There is none to have any social contact WITH.

It would help to know approximately where, geographically, you are. I hear people in west coast US say that all the time, because it's just plain difficult to figure out how to find interesting people if you're not a natural extrovert. I don't really know any other portion of the world, but I'd assume that it's very rarely true that there really aren't any interesting people around.

I probably need some kind of person who already knows me well to pull me out

Speaking from my own personal experience, with my own personal issues, which are totally not your issues: There are really cool people out there who are safe to be yourself around. If you can find them, then (a) you have someone you don't need to worry about being strange around and (b) they can then help you navigate larger groups.

If you live in the right city, you can probably find groups of 10-20 people that don't mind you. I've found a few gatherings of 100+ where I can get away with being myself, but those are usually annual music festivals, geeky conventions, etc..

Depending on the issues, it may also be more likely than you think that you can learn to function socially despite it. I've developed high-functioning abilities despite three different psychological issues that can impair me. Part of it is just recognizing my good days and having people close enough to make impulsive plans with. Part of it has been finding weekly gatherings where I can flake out as needed and no one minds, because the group is large. Part of it is a lot of practice. And, unfortunately, part of it is just being privileged to have been dealt a higher-functioning hand in the first place, which not everyone gets. But if you can handle online social, I'd guess there's good odds you can learn to handle face-to-face :)