Learning how to do relationships: Listener question

When I was growing up my father was absent and my mother had mental health issues and problems with alcohol. We never had anyone over to the house and at school I was bullied and found it very hard to even talk to others let alone make friends. Now that I am an adult I am on good terms with people I work with but I don’t have a partner or any friends. I am lonely but I don’t know how to go about creating good relationships.