How to get more comfortable at the gym?

I have been to the gym a handful of times but my diet was not that great so I wasn’t that invested in the quality of my workouts. But now I’ve been consistent with my eating and I want my workouts to actually be beneficial for me so I can see some progress. The issue for me however, is that I have really bad social anxiety and I can’t bring myself to lift free weights because I fear judgment in case my form is bad and whatnot. I know every person starts somewhere but how can I get over this mental block so I can be consistent with my fitness?