Whats the best way to learn Mandarin on my own?

Im half Taiwanese and I really dont know how to speak much Mandarin, I use to be fluent but I stopped talking to my grandparents in Mandarin and would LOVE to learn how to speak Mandarin again.

So whats the best way to learn? I think the best way is to actually talk to someone in the language. But are their any good book and learning materials that I should get to help me out? Is Rosetta Stone a good program to help you learn a language? Please, any information will help. Thanks!

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