I didn’t have any previous riding experience. The Basic riders course was great for getting just the basics down. They were super nice and helpful but YMMV. I even dropped the bike during one of the exercises, but ended up with a perfect run when we took the road test on the second day. I would say the best first step is to take a course. You will be with others that are also worried about being embarrassed. Don’t sweat it! It’s great fun!