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i bet alot of people can relate
dude, you have no idea.
The answer you seek is within the question you pose.
If I act socially inept because I hang around my parents, if I want to act socially competent, I should....?
Correct! Hang around socially competent people! Have you ever noticed how when you're in a group of friends, and one of them invents something really cool.... say they say "whoa, that's totally dagger!" Next thing you know, you're saying that - and it's not a conscious decision! You definitely pick things up, and it's best to put yourself into situations where you will be around those you wish to imitate.