I used to have some problems making eye contact with people. I can't give you a step-by-step guide on how to do it (I do it constantly now, out of the sheer enjoyment of being able to, though not in a creepy way), but I can tell you vaguely some qualities that help. One such quality is a giant ego. I don't masturbate to pictures of myself, but I certainly like myself quite a bit, and I like how I look. Seeing as how I believe I cut a dashing figure walking down the street (justified or not), I feel more comfortable calling attention to myself by making eye contact. The second quality is an outward focus. Instead of concentrating on your feelings about the situation ("gee, this feels awkward"), focus on the person you're making eye contact with. Ask mental questions or make observations to yourself about that person or your general surroundings (eg. "I wonder how old she is", "what an interesting juxtaposition of her face right in front of the guy doing squats...").
The ego thing can either come naturally, or through lots of hard work like those self-help books say "say 'I love me. I am a worthy person.' in front of a mirror to yourself 20 times each morning". Hey, it might work.
The activity of focusing outward should hopefully distract you from adverse feelings you're having, and eventually you may even "evolve" so that you don't even feel them as much in the future.
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"Few people are capable of expressing with equanimity opinions which differ from the prejudices of their social environment. Most people are even incapable of forming such opinions." - Albert Einstein
"Wise men talk because they have something to say; fools, because they have to say something." - Plato
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