"You can learn new things at any time in your life if you're willing to be a beginner.
If you actually learn to like being a beginner, the whole world opens up to you." -Barbara Sher
I've been dancing salsa pretty regularly for the past year (actually, just over a year) and I've built some confidence in my skills and abilities. I can follow pretty well and dance in a social setting.
The idea of feeling bad at something is very uncomfortable for me. I like the idea of being competent and decently skilled at any particular activity. So as someone that has finished school, and have been doing a very familiar set of hobbies/activities for a long time, I haven't had that feeling of "being a beginner" for a while.
Anytime you learn a new skill - riding a bike, playing a new sport, playing a new instrument - its inevitable, you're going to suck at it - like be really really embarrassingly bad. "Sucking", at least initially, is a necessary step to eventual mastery of a skill. Embracing this attitude humbles us, and forces us to be comfortable with being uncomfortable. And that if we continue working persistently at it with deliberate practice, we can get a level where we don't suck as much - we might even become good, or great at what we do.
For me the activity I "suck at" is urban dance. I've attempted hip hop before, bad at it. I decided to take up breakdancing after trying out one class and really enjoying the class, teacher, and moves we were learning (top rock, down rock and freezes - beginner class doesn't cover power moves like windmills).
If someone shows me a set of choreography, I'm relatively okay at replicating it. For the first few classes we did a "monkey see monkey do" routine. The instructor showed us some moves and we copied it. Very straight forward, very non-threatening and comfortable.
What REALLY pushed me outside of my comfort zone was when we tried applying what we learned in freestyle. Our instructor introduced us to breakdancing "cyphers" aka a dance circle. We play the bboy music and take turns trying out different moves we learned together. All of us are beginners (albeit 1 or 2 I'm PRETTY sure had bboyed before) but we encouraged each other, cheering or saying "good job good job" if one of us messed up. When it was my turn, I went into the circle and did my thing, and I was HORRIBLE at it. I felt eembarrassed self-conscious... all really unfamiliar, uncomfortable feelings. However in spite of this, I was absolutely delighted and excited - for the first time (in a long time) I felt challenged. I went home thinking about how much practice I needed before I would enter the dance circle again.