Maybe ease into volunteering by seeking out opportunities to help out at a specific event - serving lunch for the homeless one day, helping out at a pet adoption fair, or whatever interests you. Committing for one day doesn't lock you into anything, but it gives you a chance to get your feet wet and also get a feel for different agencies. Many places are good with a small commitment - even just a few hours every two weeks. That's not too burdensome for a volunteer but the agency benefits from even just a small amount of time.