Speaking from experience for me it just took finding somebody to talk to about my sexuality, somebody that is patient and doesn't push too far and is open minded about whatever you are into. I started exploring sexuality online with a friend, we talked about things and occasionally shared light sexual things online as we got more comfortable. It will be hard at first to open up, I was definitely nervous, but the right person won't mind the nervousness and won't pressure you when you aren't ready. It also helps to widen your social circles and interact with others outside the home. It can be hard to get started but gets more natural over time.

You can also explore some online with erotic literature and porn or even just learning about what is out there, lists of kinks and various information about sexuality, but I find I like exploring with another person even if not physically in the same room is better, and then eventually meeting up once one feels ready.

For me taking it slowly made it easiest so it does depend on what you are looking for what will work best. Having had similar experiences you can ask any me questions here or in messages if you want.