Presenting a good Rapport...

Sorry not sure if this was the right topic for rapport...

Anyways I just wanted to ask how can I improve my rapport? Not sure if that made any sense or not. How about more like how can I improve my social/communication skills around people?

I mean when it comes to conveying my message in written form it's all good... in the real world I'm a complete bust...

stutter too much,
improper grammar,
"can't think quickly on my feet" vibe,
can't come up with an appropriate response in conversation
and at times when I do respond "I meant to say something else" vibe... A little guidance? Thanks.