Okay so I used to be like you. I am still too nice to people but that's just my personality. As for the other things like letting them walk all over me, I've learned to stop that...
So yes, it is a matter of self esteem. But here's the thing, you have to figure out why you have such low self esteem...what is it that you don't like about yourself? Do you think that people don't like you? What exactly is making you think poorly of yourself. Once you figure that out, you also need to look at all your good qualities. Everyone has them, and so do you. Highlight them, focus on them, even tell me if you want. Anything for you to notice that you have positive things about yourself. You are worth it. And once you start realizing that you are, other people will too.
This next part is going to be kind of hard. You have to be mean. You have to learn how to say NO to people. If someone is bothering you, you can start slow by just ignoring them. First don't let them get to you, then once you see how good it feels move up and even maybe tell them off. Learn to say "I. DONT. CARE." and mean it.
Let's see...WHY? why do you care what others think? You have friends right? So why care what a group of strangers think? Are you happy with who you are? If not, then you should become happy. If you are, then let people think whatever they want. I realize this might not help but think about it, are any of those people smarter than you? or better looking? or better than you in any way? In most cases, no. So often smart people have low self esteem and this happens. But you really should realize that nobody is here to judge you.
Look, listen to this song, it once made me feel a LOT better and realize a lot of things...
http://www.youtube.com/watch?v=FV-HPOHu8mY
hope it helps =) Good Luck
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