The rather bold and uncertain statement of "what does not kill you makes you stronger" may aid some.
Not all, however.
Being terrified, yes you will be. Unfortunately the only advice I have is exposure. You are not weak at all. That is another wall, defense mechanism against rejection.
Small steps, yes? Be around. Make yourself available when they invite you out or they want to go out. Get to know them better perhaps? Become more familiar. I have done this and it does aid in my ability to open up and speak my troubles. If they do care they will listen and try to help.
Also go into situations knowing that it is not possible for everyone to like you.
(Sharing with family, well, even I have troubles sharing troubles with them)