How do you manage your energy after being around people for extended periods? What helps you recharge?

As an introvert, I often think that living around people for a long time can actually eliminate my energy, even though I like the company. After socializing sometimes struggle to kind ways to recharge without feeling guilty over the needs of the time alone. I am eager to hear from other introverts. What do you do to retain energy after being under social conditions? Are there specific activities or habits that help you reset? How do you balance your need for loneliness with the need to maintain social relationship??