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Project welcoming body language. Engage in conversation. Do things together.
Your body language can say a lot! You don't want to be telling girls that you are nervous, or worse, that you don't want to talk to them. Your words might sound comfortable and engaging, but if your body language is off, they'll be as nervous as you are and the interaction will be awkward.  A smile works wonders! Also keep your hips and shoulders open to potential conversation partners (crossed or folded arms and hands are bad!) Use reasonable hand motions, gestures, and eye contact while speaking. You'll appear more engaging, plus the physical movement is an outlet for stress, relaxing and soothing you.  Casually make friendly physical contact when appropriate. A tap on the forearm to draw attention or a touch on the shoulder when passing are perfectly normal and are very easy physical icebreakers. Girls are actually very much like guys, and enjoy talking about many of the same things. Discover mutual interests and focus on those, or let her know that you are curious about her interests. Conversations with girls are probably easier than you think, especially when you are talking about a comfortable subject that you already like.  The most important part of a conversation? Being a good listener. If you are a good listener, both guys and girls will be more than happy to pour out their hearts and minds. The best part is that you won't even have to talk too much if you aren't comfortable doing that. Listening is the most important communication skill you can have. Being a good listener will also demonstrate that you care about the other person, rather than being focused on yourself. The easiest way to not only break the ice but also build comfort in a relationship is to do things together. This doesn't have to occur in the format of a date. By having your attention focused on a particular task or activity, nervousness is less likely to creep in. It is a much more low pressure way of building comfort and getting to know one another than an extended 1-on-1 conversation or date.  Find activities that involve common interests or responsibilities. Walk your dogs or do your homework together. Suggest new adventures that you both might be interested in. If you both do something new, you'll be more nervous about and focused on the new activity, rather than your nervousness about being around a girl.