Hey there, welcome to FFXIV! No need to be shy! Walk up and join them, or send a /tell to ask OOC if they would mind you joining their RP! Or if you'd like a less bold approach, just emote IC posts near them and see if anyone joins in and responds to you.
Thank you i tried to emote to groups of people but they either ignore or don't notice me at all. But i keep trying.