First, you should work on simplifying your life and cutting out things that add stress to your life or complicates it. This is the first step to finding happiness in the things you love or want to do.
You should pick up hobbies that you have been dying to try. Or you can do something that you have done in the past but haven't had time to do, due to other commitments or lack of time.
Go around your town and try new things. Try restaurants you have never been to or go to new clubs on the other side of town. This will help you open up and be more adventurous.
Travel the world more often. You should make it a point to explore this world as early in your life as you can before you are no longer able to do much in old age.
Be more open to new ideas or customs and new people that you may be exposed to in your life. This may just lead to you picking up a new passion or hobby thus adding more adventure to your life.