I think OP is just afraid to fail and look like a fool in society. He cares too much what other people think of him. Thats why he cant progress, because he wants to like everyone and thats why no one will like him. Theres in fact only one person he have to really like to and even then its okay to fail sometimes. What OP dont understand is when he actually enjoys the girl as much as he wants to(spiritually and sexually) other people wont matter anymore. And when they both are happy others wont mind and will respect them both.
Searock maybe you are type of girl who dont like her boobs to be touched in public and thats fine. But it doesnt mean that all the girls are the same. To each their own.
Doubt kills more dreams than failure ever will