Interesting how many skills come down to high self-confidence.
It took me a long time to not feel uncomfortable in public areas, unknown situations or with talking to new people. But after I understood that nobody really cares as much about my behavior as I do, which in turn means that I don't have to care about what other people think of me, I got a big load of my mind.
Just imagine instead of thinking about all the people around you - all the groups, friends, political factions, coworkers - you think about yourself and how you can become a decent human being.
I can just act naturally, not worrying about others. I still try not to be an idiot, but I do it for myself, not because I worry what others think.
On this comes that it is easier to find your purpose and values. Because you don't think about what others value, you build your own rules. You may copy them, but you don't change them to those of whomever you happen to be around with at the moment. So you find out more about yourself and your place in life. It makes it naturally to be you wherever you are:
Really a great epiphany and source of inner peace!