I have shy, awkward, socially anxious parents. How can I become a confident well adjusted person?

I can go for days without saying anything to them. It's a very silent house. My mom is socially awkward and tense, but my dad is the one thats the worst. He only talks if you say something to him. He doesn't show emotion or any expression. He doesn't do anything. Just work and go home and do house/yard work. Same routine every week. He doesn't seem depressed though. He just doesn't have any expressions. Not happy or sad. He just seems trapped in an anxious shy state. It has come to the point that it is too uncomfortable to say anything to him. Its like hes self conscious and I'm self conscious and it gets too uncomfortable. Now I am too self conscious to smile, laugh, speak, eat in front of, or anything where I am noticed at home. I haven't become socially adjusted. I'm always self conscious now and I don't have confidence. I don't want to be like this, but I feel its ingrained in me since childhood. I'm plannining on moving out soon. I guess it would help to be removed