It's hard, honestly, and it isn't going to be a straightforward process. But it is possible, with patience and work and lots of understanding for yourself. Take things bit by bit, set realistic expectations for yourself!
Maybe start with walks around the block! Then, slowly, look into ways to connect with other people in your community. For example, community service can be a nice way to get out, connect to people, and contribute to your community in a way that may feel fulfilling for you! There are a lot of other options. It can be hard, especially with covid, and can take time. Try to not get too discouraged. Lots of people are lonely nowadays and seeking people to connect to, like you.
It depends on the person, and I don't know your history, but medicine and different types of therapy can help some people.
I'm sending you my utmost hope, best vibes, and if you need help along the way know you have people in your corner here.