Ask questions, meet dancers, and be part of the conversation.
A quick distinction that I would like to make is that I am assured enough to ask the better followers to dance, but critical enough that I want to make sure I have the right tools before I do. Hands down my favorite part of this dance is giving joy as you guys so aptly put it, so I probably won't be having fun unless I know my partner is also.
I've know beginner leaders who would only dance with other beginners, and they wondered why their dance was at a beginners level. Then when they began dancing with better followers, they found out that they, themselves, were better dancers than they had know. More experienced dancers are usually much easier to dance with. I had the same experience myself, years ago.
Also, there are some things that can only be learned on the dance floor. You'll never learn them in a class or practica. Sure, some things might go wrong, but that's part of the process.
Take heart. Go for it. Have a good time.