How to non-awkwardly add in to a group having a conversation

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Hi, I wonder what non-verbal and verbal criteria there are for 'normally' joining into a group?

what I can think of

- look interested and listen before saying something.

but the non verbal aspect is mystery for me and what to do if the conversation group is with people you don't really know?

I would really like to know because even when I think I said something perfectly acceptable I either get ignored or I can tell they want me to go (heh funny I know they want me to go but I can't tell when to join in).