I banged some girls when I was living at home, its not a big thing. Obviously you don't do it in way that would piss off your parents...
If you go up and say hi to a guy is that an issue? I expect that your answer is no, right? The reason is because you don't expect anything from him. Same approach sort of with girls. You just go up and say hi and take it from there. We are all humans in the end you know?
I would suggest that you would read some books on the subject..
- Rollo's book "the Rational male" and
- "The Game" by Neil Strauss
is always a good starting point.
I just went up and said hi.. As simple as that.
You just need to take action and do it and then the more times you do it the less you think about it. It will eventually just come up as a natural thing just like a natural reflex.