^^^This
I practiced yoga at home for over a year before I ever stepped foot into a studio. Following videos at home allows you to become familiar with the terminology and some of the transitions from pose to pose. However, practicing with other people in a studio, really changes the energy of a class/practice. Find a teacher you're comfortable with and give it a shot. Don't feel like you need to do every pose. I always say that as a teacher, I am merely giving suggestions, I'm not giving commands. Listen to your body and do what you think is right for you.
At any my classes, 1/3 - 1/2 of the attendees are men. A couple of things I see that keep men from practicing yoga 1) Men think they need to be flexible before they start a practicing. Not true. You will gain flexibility as your practice grows. 2) Men fear they won't be "good" at yoga. As the wise Monk mentioned above, yoga isn't about competing and it isn't about being noticed. The teacher is there to guide you, not to judge you and if any of the students are judging, they are only distracting themselves from their own practice. Don't worry about them, practice anyway.
I started yoga by accident. I stumbled upon it during a very bleak point in my life. I couldn't put my finger on it at the time, but for some reason I always felt better, both mentally and physically, after practicing. A consistent yoga practice will make you ridiculously strong, but the mind calming and de-stressing benefits cannot be overlooked. Society puts a tremendous amount of pressure on people and those demands can take their toll on our health and well being. Carve out a little time for yourself each day so that you can recharge your own batteries. Not only will you feel better, you'll make those around you will feel better as well.