Is it normal i want to take yoga

Yes and you might fart in class, loudly.

Not gonna lie, almost choked when I a drop of sweat went down the wrong hole. I have other reasons why I do yoga at home. Some private, some embarrassing. There are so many free beginner videos available online.

It's normal to be apprehensive when ever trying something new. Take a deep breath, collect your nerve, and go sign up for the class. You'll end up loving it.
I had the same feelings when I decided to go to college after being out of high school for 20 years. It turned out being a great experience for me. GOOD LUCK :)

its normal - Millions of people do it - >~

You can easily find a video and do it in the comfort of your own home. But beginner classes are available for people like you. Really, no one cares how good you are at it. Just do it for yourself.

Just take a beginner's class, then you're not the only new starter. You could also take a space at the back of the room if you feel uneasy about being watched.