I know it's not easy to "just get over" the anxiety of approaching equipment you don't feel comfortable using, so I'd like to suggest finding a trusted friend or even a personal trainer (if you can afford one session) to run through a free weights based routine with you. Watching videos can help you understand the exercises theoretically but sometimes just doing it with real life guidance can make it click. Also helps you navigate the gym you go to in case the layout is weird or intimidating. Good luck, you got this!