I am an introvert and I manage a group of 22 employees in my now 8 year company. I have learned that the best way to connect with people is not to take myself too seriously. Also, make their time worthwhile when talking to them, don't ever over-promise and really, genuinely care about what they say to you.
Being a good listener is so essential in communication - We've all been on the other side of feeling disregarded in a conversation because of a distraction, text, time, wandering minds -- it's disrespectful and works in negative ways.