How do I get over myself socially?

its a bit stupid im posting this and im like 17, literally have my entire life ahead of me but over the past year and my final year of high school ive finally been able to become social, and im just now realizing how much ive missed out. Prom was tonight and it didn't so much bother me that I didn't date anyone but that theres all of these people who knew each other and how despite the fact that this night was supposed to be special they must have hung out tens of times beforehand. Its that I've never experienced that, I didn't go over to other peoples houses, I didn't go to parties, I didn't even hang out all that much, hell ive only payed attention to instagram and social media in like the past month.
Im spiralling because even though I learnt my lesson technically I just keep coming back to the fear/fact that ive never really lived, how do I get over that?

I could have had so much and have done so little for it and I just never did it.