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I started voice-chatting in Italian after studying the language for only a few hours. I was very shy at the time but I did learn a lot from this first experience. I ended up finding an Italian friend that I called on a regular basis. I was still a beginner at the time.
Talking with my new friend helped me improve my Italian language skills, and it was a lot of fun too!
However, if your penpal speaks your native language very well, you might be in trouble. I picked a penpal who didn't speak a word of French or English. That's why I had such a great time talking to her.
If your friend speaks great English, they will quickly get tired of correcting your mistakes and trying to understand you. They may even switch to English.
Make sure you know some basic phrases before looking for a language-exchange partner/friend.
As long as you're polite (and apologetic if you make mistakes), you're good to go!