speaking can be improved by repeated listening of the language, by reading books and understanding the meaning of hard words using a good dictionary, by making sentences using the new words which appears in the text and by reading newspapers or watching good news channels for at least an hour daily .
The best way is to read the newspaper and try to find out the meaning of the words which you dont understand.you need to practice as much as you can.Take out the hesitation from within and communicate with your friends in English. Remember that it is never too late. There are some good Institutions like The Ramakrishna Mission Institute Of Culture where both spoken as well as written English is taught.But You need to take the first initiative. All the best !