Walk me through therapy? Now, can i?

I've been meaning/wanting to get therapy from the past 6-7 years but I haven't as I wasn't as independent (money wise) as I am now. Can't seek therapy on pocket money now, can I? I still can't open up to my parents about this as ofcourse they'll worry a lot more about this than myself. I've always felt left out, lonely, anxious, never confidant and have feared losing people. With this new (first ever) job that I have I worry even more. I'm unsure if I will be able to deliver on time, perform well. Understand this new, very advanced project that I have been assigned to. I've been told I'm the slowest of the new recruits which I believe is partly true but I'm unsure if it is because of my low self-esteem or has some hard truth to it. I've barely managed to hold a decent conversation with some of my colleagues but again, it gets awkward almost immediately. Need help but don't know if it will bear fruit. Need someone to help me take these baby steps.