How do you heal from narcissistic abuse and become a normal person?

I was raised like a servant to my dad. My mom taught me how to be incompetent. Growing up I have anxiety, no confidence in myself, depression, and lack of social skills. I feel so damaged beyond repair in my early 30s now. I have nothing going for me. No relationship, no career, nothing!

I thought the right way to fix myself is by going out there to live fearlessly and to have minimal contact with my narcissistic parents unless I absolutely have to.