Ideas on how to myself to be more social without significantly increasing anxiety? What's worked for you?

I like being at home and stay home as much as I can, but I know that's not great for my mental health. It ups my social anxiety when I HAVE to go out, to the point there I can feel my heart rate increasing and I start to get clammy skin.

How do I convince myself to go out more, so going out isn't this difficult for me forever?

What have you guys done to help with this kind of feeling?

Any and all advice appreciated. Thanks all.