Boyfriends family

Although I've known my boyfriend for over a year and he comes to my house a lot almost every weekend I'm still terrified to enter his house. Yes I've been there I know where he lives but I'm to scared to go in. Yesterday after school I was with my boyfriend and one of his friends. I was just going to go to my mother's work until she got off but everyone insisted I go with them. So unwillingly I went. As soon as I stepped into my boyfriends sisters house I panicked. I didn't want to be there. I would have to take off my shoes which if yall know converse are not the easiest shoes to take on and off. So I just insisted that I leave. I ended up just walking out but my boyfriend rushed to stop me begging me to stay saying we could just sit on the porch or something. One of his sisters friends then came out saying it was okay for me to go in which just made everything worse. I had embarrassed myself in front of everyone. I was still panicking and shaking almost to tears. As my boyfriend went to get his shoes I left. I didn't know what to do. I was so scared. There was no reason to be as scared as I was but I was terrified. I had met his sister before and even been in her house two separate times. But this time I panicked I lost my shit for no reason. I ended up outside my moms work crying my eyes out. There was no reason for the way I acted and I don't know why I act like this. I get so nervous going into peoples houses, meeting new people, big crowds, and even talking to the cashier at a store. I'm scared to even ask to go to the restroom in school. I get so scared when talking to people and I don't know what's wrong with me.