Overcoming the Fear of Being Judged at the Gym

I have wanted to start lifting for months but every time I get to the gym car park, I turn around and go home. I am so afraid that people will judge me because I do not know what I am doing or because of how I look. I am quite overweight and I feel like I do not belong in a place full of fit people.

I know rationally that most people are focused on their own workouts, but the anxiety is real. I have tried going late at night when it is quieter but even then I feel exposed. I am considering hiring a personal trainer just to have someone to walk me through the movements and give me some confidence.

How did you overcome the initial gym anxiety? Did you have a specific mantra or did you just force yourself to go until it felt normal? I am in Chicago and there are plenty of gyms around, I just need to find the courage to actually step inside one.