go for it! in the beginning it will not be good. that´s the truth. but the good thing is, it will improve!! every master was shit at first, yeah some people get skilled a little bit faster than others but i don´t believe you need to have "talent" to do it...it´s a skill. you have to practice to get good. you have to look at things. copy things.
not every artist does this, but learning art theory like color theory, perspective, etc. and human (or animal) anatomy DOES benefit you. it is better to learn the rules first (at least get a grasp on it, esp anatomy) and then break it.
drawing is a wonderful skill and can be therapeutic too!! it´s a great creative outlet. especially if your into any comics, manga, stuff with characters and illustration it´s really cool too. i started learning drawing while watching tv shows as a kid and drawing my own little characters of it. i think you should really start it and you dont need to be embarrassed AT ALL. Good luck! ^__^