Hello. Ive been intrested in learning and playing D&D for awhile now. I guess I am a little nervious. I don't know how or where to start. Another thing, I am not very outgoing, charismatic. Since I am not very outgoing and not so good at story telling, should I just keep to PC games? After a few beers I'll loosen up. Any tips/suggestions will be appreciated. 

I guess I recomend starting with the free basic rules. The first 10 chapters are good resources for players. I recomend reading chapters 1, 8, and 9 (skimming the other chapters or using for reference as needed).

As for finding a group, I dont have as much advice there. You can check you local game stores or try finding a group on DDB or Roll20 for online sessions.

I stumbled into a game store thinking it was an antique store. The antique store must have went out of business. Anyway I've thought about joining a group before but didn't want to buy a $50 book. Well I asked about it and just jumped in without a book. I still don't know much about, but I guess I'm getting along ok. I picked a human fighter so I wouldn't have to mess with spells. I also don't get out much. This is a good way to get out. I mean this in a good way, dandd isf fullof weirdos, so you'll fit in.

There are a lot of people who play D&D who can relate to your self description. When you get nervous thinking about joining in a game, it's worth remembering that if you don't like it, you can opt out again, with the only loss being your time. I second checking out a game store to find local games, both in and out of the store. You can also ask around amongst people you already know - you might be surprised who has played in the past and might be interested in picking it up again. Even if they don't feel comfortable running a game, you may find yourself more relaxed if you go to a game store with someone you know.

I play video games, too. And they're loads of fun, and there is some overlap. However video games have a very different feel from tabletop RPGs like D&D. You just can't know if you like it unless you try it. 

Edited to add: Many GMs (game masters) really enjoy having new players. Yes, it's true, new players often need to be reminded of rules. But new players also bring fresh eyes to a situation, and may try some inventive solutions that more experienced players don't consider because past experience colors their perspective.

Honestly I would say you would regret not getting into D&D. I hear this story a lot and I gladly do one shot campaigns for new players who want to learn and feel this game out. Plus it's always hilarious when people come in not expecting much and all of a sudden I bust out one of my goofy voices for a npc and they laugh for 5 straight minutes. If you are looking to play I would search on facebook to see if there i a local D&D group and ask to join. Or ask your friends if they would be interested in playing.

If you put me in a group of people then I'm likely to be the quietest. I like to keep myself to myself and like to do things by myself most of the time. This is just my personality but at one time it was combined with pretty bad anxiety. When I started playing D&D the roleplaying aspect was something I really struggled with but I enjoyed being part of a group and over time I gained a but of confidence in how to roleplay. Most people will be patient with a new player learning that aspect of the game as well as the rules (and if they're not it's probably not a table you want to be at anyway. I also DM a game which I would have thought was far beyond my level of social skills or comfort but I really enjoy doing so. For me finding that group has been excellent and I truly believe that for people who are quieter or have anxiety issues then D&D can be one of the best things that you can do.

I would also say don't be disheartened if it takes a while to find a group. It took me ages and there is more people wanting to play than DM. Discord games are good fun as well as in person games and I cut my teeth on discord ones before joining an in person group. You can find discord games here and if you want the in person experience then try to see if there is a facebook group for your area, a local game shop or recent posts on sites like reddit. Keep checking until you find the game for you and you're unlikely to regret it. And the worst that can happen if you have a couple of games, decide it's not for you, and go back to where you are now. There is nothing to lose.

I'm sure a lot of people have already given you a lot of good advice, but I'll throw in mine just to make sure.

It's totally okay to be nervous about it! Not everyone comes from PC games like skyrim, or world of warcraft. Some who have played them, still gotta get use to other people at the table. And it's okay. Many people are nervous. I don't know if you've watched critical role (if you haven't, it's a good way to start learning about it. But don't expect your games to be like Critical Role), you've probably heard Matt talk about the game before their streaming began. It was a lot of fumbling. Marisha was a guide! She wasn't even with them. She was there to point at what attack bonus they had, where "Spot" was and how many modifiers they had in it. And still, every week, they still forget stuff. Like evasion. So don't feel frightened about the rules. 
So. Maybe you've already started, maybe you love it now. I don't know. But just in case:

Class and race. I don't know what world you're playing in. And for you it might not matter. But let say that all races are allowed. But, let's keep to the PHB.
You can choose either class or race first. Some like to start with a particular one, I personally, have no preferance. Sometimes I come up with a character build centered around a special class feature, but I just can't decide on the race. Many people will tell you that, Fighter is the easiest class to play. Or barbarian.

Barbarian is a surprisingly tactical rewarding class. You have to know when to rage or when to keep those few rages ready. But if you like to deal and take damage. I would recommend the barbarian. Humans, half orcs, dwarves, and half elves are good barbarians. But I would recommend finding a race you like, not what gives you the best modifiers. I will recommend different races at times, though.

Fighter has a few more abilities than a barbarian. And at later levels gets a little math heavy. Because the fighter is the only class to get more than one extra attack without dual wielding.
But, don't think about that. It's a level 11 ability. I don't know if fighter is more or less complicated than most classes, but tbh, I think it is a boring way to be introduced to d&d. But then again, I've never played a pure fighter so don't take my word for it. (What I mean by pure is that I haven't played a fighter without multiclassing. I have always had another class with it.)

I'll go through the others a little quicker if I can. Wizard are the most known class I think. If you are looking for spellcasting I would highly recommend this class. yes, there are a lot of features. Yes, it can seem like a lot to learn all the spells. But trust me. There are many people here who will give you recommendations should you need it. But wizard forces you to read the spells and for a newer player, while tasking, can be a good way to learn how you master dnd rules. You read. When my players cast a spell, and they don't always remember how it is done, or I don't know it. I ask them to read the spell for me. That way, they have to read through their own spells. But you don't need to remember ALL the spells. Nor read them. Maybe read the first level spells, but when you are level 2. Read like, 4 2nd level spells. When you are level 4, read 4 3rd level spells. And when you get more comfortable or have the time. Read a few more. 

Clerics and druids are a little tough to play. But it's basically the same deal was with the wizard. But as a druid, you are comitting to a specific set of rules. Like no metal armor, preserve nature, in either a good or evil way. Stuff like that. Which is a bad bad thing for newer players. I started out with a druid. If I could, I would've changed that. Not because of the wildshape ability, not because of spells, but because you have to be in the forest or whatever nature place you've decided you hail from and protect it and everything else around it. But if you like the sound of druid. It is one hell of a badass class! 

Bard and sorcerers are okay. Sorcerers doesn't get the full spellcasting fun, as they have fewer spells than the wizard, they can cast less spells per day. I won't lie. I think the sorcerer is a weak class. But don't let that stop you! It's your decision in what class you wanna play, and don't let so random guy who didn't look up when this was posted's advice stop you from choosing something you love! Bards are cool, but people will expect you to talk and perform. Everyone (even the PHB) sees the bard as a music class. Sing and or performing. Dancing around. You don't have too. You could be a spy for merchants. A guild of merchants who sell magical items, they want you to spy on their rivals. That could easily be a bard. An assassin can easily also be a bard. Their spells allow them to disguise, hide, or fool or others and buff themselves should they need it. Bards can be a lot of things.

Warlock is if you want to both cast spells and fight. If you want a spell sword kinda deal I'll give you a quick build for it. So you get to both cast spells and also hit stuff with swords or whatever.

Patron: Fiend
Pact: Pact of the blade
Strength if it's gonna be any but a finesse weapon. (Finesse weapons are daggers, rapiers and short swords. And scimitars. They use dexterity instead of strength for attack and damage rolls.)
Invocations: Devil's Sight, Agonizing Blast, (and when you reach 5th level) Thirsting blade.

I hope this helped. Should you need any advice, I'll try to remember to check this the next couple of days. Don't let others tell you what to play. It's your character. Though one final word in parting. I recommend a chaotic good or neutral good character. It's gonna be harder for the DM if you want to play as an evil character. But talk with him if you want. 
Good luck my friend. Best the loot and luck to you! ^^

I would suggest checking out your local gaming store if they have Adventurer's League, Roll20, or the LFG forum. Many games are run specifically to get new players comfortable.