I'm 19 how should I tell my parents I want to move out? (Long)?

I moved to live with my dad when I was 17 and I've been living with him and my step mom, and their kids for the past 2 years.. I do go to a local community college though, but really that's all I do, when I moved here I never really made friends, on my own or at school, so I'm always home.. I used to have friends when I was living with my mom and in highschool, a lot of them actually, so it really gets to me.. So to get to the point, two of my friends (from where I lived with my mom) messaged me and said they wanted to drive up to pick me up, and I've wanted to do it for awhile, I actually even talked to my mom about moving back ( not in with her, just back) before my friends brought it up.. My parents are more "relaxed" than most parents and I will admit, I've become a mooch, but I still feel like they won't like my choice of moving back. Is this just me be dumb and trying to stay a mooch living the easy life, or what? And it's not like Ii can't go to school there.. I'm almost 20 and I just feel like I'm messing up my life, I've become pretty much socially retarded, and I'm just missing out, I feel like.. Can I just get some advice, and don't worry about hurting my feelings or anything( but please no smart a** answers, this is quite a problem in my life right now), I want honest advice, and I really want change.. I know the best thing to do would be to just bring it up, but i just cant get the guts.. I was supposed to bring it up today, because my buddies are trying to plan, they want to be iut here next week, so i really need to get the guts...Sorry for the looong post and any misspellings I wrote this on an iPod Touch lol