Embrace mistakes! Even us native speakers make mistakes, it's not a big deal! People will be more tolerant of your mistakes because you're not a native speaker, but most importantly MISTAKES HELP YOU LEARN! No matter what you do, you only ever learn from mistakes. We learn things better when we have some sort of experience with it, and in fact we tend to remember negative experiences better than positive ones. If you make a mistake and it's slightly embarrassing or you feel a little awkward, then chances are you won't make it again because you'll just remember the correct way! Remember, practice makes perfect, and language isn't about getting things right all the time, it's primary function is to express something to someone else. You wrote this question, in English, and I understood it perfectly :) there was a time when you couldn't say a word in English, and now you're can!

Make little steps an choose your friends to practice wisely. Many people on internet can be rude or disrespectful. With good friends you can do it.

As they say in the adverts: Just do it. :) Maybe do it so often, that it becomes natural? Answer the people talking in movies? Talk to all your friends, your pet, your reflection in the mirror? . From the look of your writing you have little reason to be nervous. :)