Public Speaking advice - Toast Masters

Does anyone has experience in public speaking? I need some pointers on how to become good at it. At the moment I suck at it. I am usually so nervous that I loose my focus during speech or I have to read from cards.
Does anyone became good at public speaking that could give me some advice? I want to start going to Toast Masters meetings to practise it but I don't even know where to start (or make myself go).
Did you use any technique, mental process, mentoring, a book that helped you perhaps?

My brother and sister both do Toastmasters, and they rave about it.

Both are non-talking and silent people like us and they say it really helped. A lot of the Toastmaster things are also about leadership. I would really recommend doing it. I just do not have any toastmaster groups near me.

One thing I do occasionally is to video myself speaking. It helps me to see things I could improve.

Whenever I have to do a presentation at school I always look at the ceiling while facing the crowd. My face is pointed at them but my eyes are looking up.