If I could pipe in on your original post Zencat.
Katie why do you feel intimidated? Start in a beginners class where everyone new to Yoga is and you all loose your balance and fall of your perch together. That's what I did with everyone else. I also found being with other people a great break. I wanted to feel "part of this world" not "of this world". I think getting out as much as your comfortable with, will do you the world of good. But push yourself a little at first and soon, you will never be home. hahhaa