No one is going to stare at you because the gym is full of assholes.
That's why they will stare.
1) I meant that the gym has a lot of different people, including a lot of people who aren't really doing it right. Including myself from time to time.
2) Most gyms, if you ask politely the staff will give you a few minutes of free training, enough for you to learn some moves. Sometimes when you sign up there is included a free 20 minute training session.
3) There are the machines. The machines are easy because you can watch what others are going and you can read the instructions.
4) As I said, YouTube. There are really only about 3-4 most common moves to exercise each muscle. It can be learned at home in a couple days using one size of weights & then switch to the gym.
5) If you are doing it right, it will feel right. Your muscles will burn.
6) There's nothing really wrong with doing it at home. Buying weights yourself is probably cheaper anyway. I just didn't think 'people staring' or embarrassment is a good reason to stay away.