Your first step is to find a place or activity to go to repeatedly. It could be board games or a book club, doesn't matter, your target is something you do
with other people.
Go consistently to the event or activity, reach out to anyone else participating for conversation. You're not making friends just yet, just learn to physically actually talk to another human being at first.
With enough repetition, friendship should blossom naturally. Now, what exactly is
friendship I couldn't tell you for certain, but generally it just means having someone to talk to and do stuff with.