Fitness Classes

I have found a local gym where you can pay per class, and I've been considering trying out some sort of fitness class. Maybe yoga or pilates or kickboxing. But I am NERVOUS. Like maybe my brain will suddenly forget the words "child pose" ever existed and my legs will stop functioning. Lol!

Do any of you ever go to fitness classes? Any tips or suggestions? Is it a good experience, or do you prefer to just workout at home?