You sound an awful lot like me.

When I started college I was 6’1 125-130 lbs, never saw the inside of a gym. One day I decided to start doing home workouts in order to get some strength before hitting the gym at my school. Started with simple 10-15 minute ab workouts and pushups. 2-3 months later I had a visible 6 pack, visible chest and triceps and the confidence skyrocketed.

Afterwards I started hitting the gym with friends to ease in. A year later I was 150 lbs, ripped with an 8 pack and in the best shape of my life. The gains slowed down afterwards but have been fairly consistent ever since.

So my advice would be to start at home, master the workouts you do (pushups, leg raises, Russian twists, bicycle crunches, planks were among my favorites), build some confidence and then hit the gym with some friends. This period of anxiety will pass and you won’t even remember it in a few years. Best of luck!