I will also add that if fear of looking foolish is something that concerns you, you may put your fears to rest about taking lessons. You are paying the instructors not to laugh at you.
Just kidding... All dancers know the feelings you go through when beginning. All dancers, even the great ones, were beginners once themselves. In fact, only non-dancers are likely to be critical... and my policy is not to pay attention to non-dancers opinions.
It has been my experience that most anyone can learn to dance. Dancing is like walking, you just do it on time with the music. If you can drum the steering wheel in your car when a good song comes on the radio then you can keep time. Most people have trouble turning that ability into dancing ability because they are uncertain about where to step... Uncertainty turns to hesitation and hesitation leads to stepping off time. Learn the steps, lose the the uncertainty and then you can dance.
When I stopped taking ballroom, I broke down all that I had learned. I now make the claim (which I can back up) that I can take any couple and in 3 to 5 minutes can teach them how to dance better than 90% of the dancers in a club. I'm speaking of course of the clubs where there are just your average persons most of which can't dance. Obviously if its a dance club frequented by trained dancers I would need more time and they would need more practice but I could have them holding their own in a very short while. This is something none of the dance studios would attempt. Teaching people ballroom is their livelihood. Ballroom dance instructors don't really teach their students to dance. They teach them to memorize and perform patterns. At a Tango workshop I was teaching, I said that if, after a year, an instructor's students can do nothing more than perform the patterns the instructor teaches them, then the instructor has not taught them how to dance only to mimic. I might have been less charitable on the subject.
Anyhow... ballroom dance studios are where you have to go to learn, in spite of their shortcomings. I personally recommend taking a course so you can become exposed to the various styles and then look into workshops for the ones you like the most.