I would try and 'meet' a couple of people from your course/halls before you go and then you're not starting by yourself, you'll have someone who's in the same boat
in general though, people are so keen to make friends in those first few weeks you'd have to hide in your room and not talk to anyone to not make friends... people want to get to know each other... it is scary at first but you just have to throw yourself in to it
as far as family goes, you have to move out eventually, you'll never feel 'ready' and it will always be scary but you're only going to be a phone call and a train ride away so try not to worry, you can see them regularly if you need to