Getting over the fear of asking for help

I've studied several languages before, but I've never been able to get to the level I would like to because I'm also too scared to speak or ask for help. I can study grammar and write sentences on my own all day long, but when it comes to letting someone else look at what I wrote, I get so nervous and in my own head. All I can think is "they probably think I'm stupid" or "that was so easy how could I have missed that." It's so much worse when I try to speak in a foreign language. I really get in my own way, and it makes me feel stuck. 

So my question is: is anyone else out there the same way as me? If so, how did you get over your fear of asking for help/speaking a new language? Is this something like public speaking where you just have to picture the people you're talking to in their underwear or what? Haha

Thanks in advance : )