I was 23 before I had the courage to go for lessons. I signed up with my local council pool.
It was quite daunting turning up the first day, the instructor was fab. Group size tended to be 5-6. Afterwards i was allowed to stay in the pool for as long as i liked to practice.
We covered the basics, like putting your face in the water. Sounds trivial, but I hate water hitting me in the face! Treading water etc. Each lesson included one-one time.
I loved it, i now have a competent front crawl and breast stroke with proper technique. I was starting on Back stroke when i decided to give up my place to someone that really needed it.
Go for it, you won’t regret it.