First, you're not alone: Many people feel this way.
Second, it's going to take time and practice. You *might* be better off finding a small RP-focused game in an established theme that you're familiar with. Get your comfort zone playing with a small group of RPers in a mythos that's well-known. As you gain confidence, you can graduate to larger games - maybe even some with original themes that require a little more footwork on your part.
With time and the repetition that comes from practice, you'll find your shyness ebbing away.
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