A very big part about communication isn't the verbal portion at all rather messages and signals sent via body language.

Have you taken the time to observe how other people interact with one another? Where are their eyes focused? What do they do with their hands? How do they stand? Even watching for this with conversations people have on television is a good exercise.

Think about what interactions you do have and what makes you feel engaged. What makes you uncomfortable.

One skill though that is difficult to observe however is determining how close you should stand to someone while speaking. Every person has their own comfort zone and part of communication is understanding their signals which indicate where that zone begins. Unless you are able to immediately understand this, it is best to give people a wide berth. Perhaps stand arm's length away.

Again, observation is your best teacher.