Getting Back to the Gym

It’s been about a year since I’ve been to the gym and I’m really hating the way I feel right now. I want to get back in shape but I’m so nervous about going to a crowded gym and looking like a fool! Does anyone have any tips on getting back to the gym when you’re not 100% confident with the machines, not confident in yourself and so terrified of being judged? If you could offer some workout routines too to make it look like I know what I’m doing that would be so great! Thank you