How to feel more comfortable when I am at the gym?

So I enjoy when I am at the gym but when is too much people inside I get this weird feeling everyone is watching me to make a mistake so they can laugh. Oh also I like weights and strenght training but I never have enough guts to go on the area where guys are lifting. I´m afraid of them cuz they are big and muscular. Should i ignore that feelings and relax, go there and do what I want?
How to feel more comfortable when I am at the gym?
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