How do I hang out with people that I kind of know?

Well, schools starting in a couple days, and its going to be my second year at this same school. Last year, I didnt really “hang” out with people. I mean, sure I had a great time, but like for lunch and during breaks, I just went home.

The friends I have are pretty chill, and sometimes awkward, but I have no idea how to say I want to eat lunch with y’all or something…I dont really have classes with them, and dont know where they go for lunch either…