Look stupid in public. Seriously, I highly encourage it. A friend and I were talking about fun athletic (and other) things, and we came to the conclusion that the more willing you are to look stupid in public, the quicker you figure out how to do interesting things.
Definitely true for: yoga, mountain biking, unicycling. But also true for putting yourself out there in most any form. It may not be comfortable (it isn't!), but the willingness to dive in, without thought to what the learning process looks like, will definitely get you where you're going faster.