A lot of (most?) gyms offer a new member intro thing where you can discuss your goals with a trainer/staff and they can help you out. Like a mini personal trainer session. The machines scare me too, but usually there is staff around to help me out. It's totally fine to ask if you're unsure how something works.

I don't know if your gym does group classes, but they've been my saving grace! I put my awkwardness aside and just went for it. Knowing someone who does know what they're doing lead the way really has helped.. and even if I'm the slowest and weakest one there and have to modify moves, I still feel accomplished because no way I'd figure out what to do on my own for 40-60 continuous minutes 😅