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It seems so daunting though.. the website posts things like I'm already suppose to know how to do them.. and although they have instructions, they don't go into littler details (Make sure your back is straight here, or you could twist it, etc.) so I'm scared to try some of the things they do... I feel like I'd be more confident if I had someone there to show me the moves.
It's expensive, but that's why it's worth joining a CrossFit gym at least just for a little while.
When you first start, you join the beginner class, and the trainers there spend a lot of time and attention teaching you how to do each of the moves correctly for that day's workout. They pay extra close attention to everyone in the beginner class to make sure you're all doing it correctly so that you won't injure yourself. Once you're "ready", you join the regular class, with more difficult workouts. They still watch everyone quite closely, but they don't spend as much of the class time rehearsing the correct form.
And no matter what fitness level you're at, there's a way to scale it so that it challenges you, but not overly so. There are CrossFit gyms in retirement communities where old people come in and do the WODs in ways that are scaled especially for them, and there are Olympians who do the WODs in ways that challenge them. So I'm not exaggerating when I say that they can make the workout appropriate for every level.
Does that make sense?
When you first join, you might be intimidated to see what some of the other people there are capable of, especially the regulars, but they all started out at their own level, and with time, you'll be just like them! Actually, with the training you've done already, I would guess that you would already be stronger and fitter than most of the beginners, and would really improve quickly. I think you'd be excited with the results.