How often have you said “Yes” when offered an opportunity even if you really knew little or even nothing about what was involved? 
The response from those who can answer “Yes” is that it brought countless amazing people into their lives, an incredible array of experiences they would never otherwise have participated in and all this has helped them to become the happy, successful people they are today.
Be exciting, be adventurous, and Rotary will be rewarding for you. Say “YES” when offered the chance to participate. Everyone will help you succeed such is the goodwill of your fellow members so have a go when asked.
.... Sounds like you are a strong Rotarian ...