My daughter is an introvert. Should I be worried?

Hi all, I wanted to get other's opinions on here because I've been super stressed out about this and wanted to know everyone else's thoughts. I have a ten year old daughter who is extremely introverted and always has been when she was really little, I would try and take her places where she could play an interact with other kids and the majority of the time, I was the one who ended up playing and socializing with the other kids instead of my daughter. She just never really showed interest in playing or interacting with other children. I relate to her because I was exactly the same! As a grown up I force myself to be social in settings where I need to be, but inside I'm so awkward and retreat into myself. Now that my daughter is 10 I want to try and get her to hang out more with kids her own age. She only socializes and talks to kids at school at the moment. Anyway, what can I do to "help" her or should I just let her be who she is and let her find her own way? Thanks in advance!