Should I join a fraternity in college?

I know a lot of people like them but I have a feeling they are not for me. I am a Junior in High school right now and many of my friends and I are discussing college life. I plan to go to an Ivy League college, probably UPenn. I'm pretty quiet and shy. I also want to focus on my studies. However, I do want to make a couple of good friends without having to party or get drunk. Is it hard to make friends without joining a fraternity? Am I missing out if I do not join? Thanks for answering.