I am thinking of picking up a musical instrument. But I am afraid that I will miserably. That I may be the oldest person in the class. It's not a country for solo old men and women, even in their late 30s.
The failure is something that comes with the territory. It's possible to find balance and teachers and material and methods that have lots of reward and not that much failure, but learning generally means doing things badly and then figuring out how to do things better.
I hope you find a way. Music is a great joy.