I would start by making some small steps to make it feel more inviting. Go and stand outside your front door and look at the house as a visitor might. Maybe sweep the step, repaint or clean the front door if needed, cut back any dead or overgrowing plants.
Make sure the hall is clean and tidy, its light is warm and fairly bright, and add very very subtle not overpowering welcoming scent - wipe dust from the radiator and add a dab of fabric conditioner or a drop of essential oil onto it. So if a neighbour turns up at the door you can invite them in, at least to the hallway and it feels like a welcoming place.
Pick one room that you want to be able to invite people into at any time without embarrassment. Might be the living room or the kitchen. Declutter it and deep clean it - polish windows, wipe dust from skirting boards, hire a rug doctor and steam clean the carpets, and wash the curtains and loose covers if you think the room smells a bit stale. Then add a couple of focal points, that draw the eye immediately as you come through the door and make it look inviting. A vase of fresh flowers or a plant on a side table with a lamp that has a warm, gentle glow, and a family photo in a frame. Maybe update cushions and throws for the sofa as a cheap way of making it look less shabby.
Get into the habit of doing small things that make the house feel welcoming and alive. Have upbeat or soothing music playing in the background, fill it with scents of fresh coffee, fresh baked bread or cakes, fresh flowers, clean laundry.
Then... invite people over. Make it very low key at first. Just ask a couple of friends in for coffee or family over for Sunday lunch. Maybe have a small neighbours' drinks or coffee morning. Offer to host a hobby group or local meeting occasionally. Ask a couple of friends over for dinner, or an old friend or family to stay for the weekend. Bit by bit, your home will feel welcoming and sociable again.