Good for you man. I remember when I first went to the gym, I was skinny, weak, and self-conscious that other people at the gym would be critical of me. I eventually realized that as long as you are courteous and clean up after yourself, no one will even notice you. Just go in, focus on yourself, and do your thing. A couple of quick things that I would advise:
1) Take a few pictures of yourself before you join the gym so that 2-3 months from now, you can compare yourself to what you used to look like. You'll be surprised at your gains and it will really help with motivation.
2) Start with light-weights and focus on using proper form and full range of movement. This will help you avoid injury when you eventually work up to heavier weights. Another benefit is that since you are new to the gym, as long as you keep at it, you will see results even if you are lifting light weights.
3) As some have mentioned, hiring a trainer can be helpful. If money is a concern, you might want to look at hiring them for just a few sessions so they can put together a work-out plan for you. There are some great fitness channels on Youtube as well. The best that I have come across is Athlean X, so check that out if you need some workout ideas.
4) Each time you go to the gym, make sure you know what you are going to do before you get there. This will help you stay focused and will allow you to get the most out of your workouts.
5) Finally, just stick with it. Maybe you won't ever be a bodybuilder, but if you stick with it, you will reap the benefits both mentally and physically.
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