I find it most easy to connect when I approach a new person as if we were already good friends -- as if you were already in the kind of social relationship you'd like to be in. It may feel a little odd at first, but people respond very well if you lead them into feeling related.
I don't mean hugging them and being all, "Hey, Buddy!" Rather, just being a leader in greeting them feeling like you're glad to see each other, and expecting that things will go smoothly and pleasurably.
Experiment with a couple of low-risk people and see for yourself.
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