How do I undo the damage my parents did to me as a child? For

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How do I undo the damage my parents did to me as a child? For most of my life they were always there to basically stagnate any kind of growth I could have possibly had. They never let me go outside on my own until I was around 13 years old (and even then, they only let me go directly in front of our apartment complex) and wouldn't even let me go to school by myself even when it was only like 2 or so blocks away.

This lessened when I basically told them to fuck off and started doing things on my own but I can never, ever stop feeling guilty whenever I disobey them even when I know it as a fact that they're wrong. My brothers are the same way in that they always tell me to listen to them even when they're obviously acting like fucking retards. I honestly never want to see any of them once I finish college.

I'm 18 now and starting my senior year of highschool but I have trouble maintaining conversations and have a low self-esteem. I'm nowhere near as bad as I was when I was, say, 13, but I feel like they messed me up irreparably and I've got no choice but to be socially retarded for the rest of my life.