This all involves someone that's willing to put up with you enough to teach you how to be a social person. Some people just don't like being around others, some fear others, and some are simply shunned by society and never had a chance. Few people can have a wife plop down on their lap and those that lack social skills fear getting a job that involves talking to people, and for good reason.
There'll always be exceptions that go on to become president and whatever, but it's a lot of work and a lot of luck.
It had a lot to do with my choosing to put myself in an uncomfortable position, and choosing to learn the necessary skills. It wasn't all "someone willing to teach me"; a lot of it was me being willing to figure stuff out.
If you do need someone to teach you, that suggests you have a significant condition -- in which case you very likely qualify for help from a specialist. For example, if you have an Autism spectrum disorder, you can find resources in the US via http://www.autismspeaks.org/community/fsdb/search.php .
It's easy to make excuses, but it's better to make progress.
There'll always be exceptions that go on to become president and whatever, but it's a lot of work and a lot of luck.