I saw my relatives coming. They were talking and laughing, but I was too introverted to talk. What should I do?

You must try this for the first time. You add a bold word to your fears, look at their hearts at the right time and say something that will make them respond to you. Then you can go back and think slowly, or go on talking. Never be afraid of embarrassment, but try to speak up. After a long time, I am not afraid.