how to handle the dentist ?

My mum never took me to the dentist or really enforced oral hygiene. i really struggle with it , and it’s one of those cycles where i get freaked out about brushing them and then feel bad about it then struggle more to do it etc etc.

i’ve decided i need to go to a dentist as my gums are getting really bad and i fear i may have some decay , plus my wisdom teeth are coming in. How does it typically go down once you’re there? i’m really scared of the judgement as i know they’ll think i’m a bit gross but i guess this is the best first step! also if anyone has any tips and tricks for not hating brushing :)