Why am I so socially inept?

I’m seriously trying to understand what’s wrong with me

I go to a place where nobody knows each other (first day of uni for example), after an hour or so everybody is talking to each other and you’d think that they have known each other for years, talking and laughing, exchanging numbers, and I’m the only one who is awkwardly sitting next to them, not knowing what to say or how to partake in their conversation.

Even when people try to be nice and talk to me, I noticed that I sometimes sound arrogant even though I don’t mean to or when I try to be funny I notice that it came off wrong, as If I were making fun of the other person, even though I’m not trying to do that at all, I’m just trying really hard to give “normal” responses and act like a “normal” human being.

Of course I could be overly energetic and just go up to the people and talk to them and always look for them in the breaks and talk to them every free minute but I’m 100% sure that I would just annoy them by doing that.

Does anybody else here have the same problem?