Books to learn how to be happier, less regretful, stop comparing, be more secure in myself, etc.?

I have struggled with imposter syndrome and self-esteem issues my whole life (because of my family issues) and it has had a really negative impact on my ability to succeed, be satisfied with my accomplishments, make human connections, etc. I have so many regrets and so many things that I am angry at myself about. I have let my insecurities and fear of failure get in the way of so much. I find it so difficult to be proud of myself even when I succeed. I always feel so dumb and worthless. I see people from high school and my own family members and they seem to be thriving and successful and it makes me feel worse. I feel so lonely but I don’t know how to reach out or put myself out there.

Are there any books I can read to get over this hang-ups and just be fucking happy for once?