How to get my parents to lay off a bit?

So my parents are really overprotective. I'm not allowed to hang out with guys unless theres another girl there.. I'm not allowed to be dropped off at the rollerskating rink with my friends because theres older guys there. (they dont let minors out of the skating rink without a parent there to pick them up.) They don't trust the world.. and someday, I'm gonna be out there all alone not knowing how the hell to handle things. Their worries have rubbed off on me, and now I'm socially awkward and scared to talk to people in the fear that they'll hurt me in some way.. They don't really monitor my phone, ipod, or computer or anything.. But I'm sick of not being able to hang out with friends and stuff without BOTH of my parents being there. Last time i went skating, they both sat there at the table for 3 hours .. It's driving me pretty crazy.