Insecurities stopping me from going to the gym.

How do I (31m) get over the fear of going to the gym? Every time I try to work myself up to it, I panic and leave. I have no idea what I’m doing and I get super nervous when I’m there. It’s gotten so bad that I just don’t even try to go anymore.. But I really want to workout and get back into shape again. I just can’t get the courage built up to go.

I feel like I need some kind of a routine to follow, but I have no idea where to even begin. Can anyone help me out here? What is something that helped you get back to it? Is there some kind of program I could follow? Any help is appreciated..