Interesting thread and relevant to me as I'm a 30 year old bloke who never rode a bike as a kid. My fiancee has always been into cycling, so last month I found the council scheme and had a free adult cycling lesson. Maybe I was just lucky, but in the space of 2 hours I was riding along merrily. So I thought "sod it, I just need to get out there" and went and bought myself a brand new CX bike. Been on it 6 times in the last two weeks. The only awkward bit is transporting it away from roads as we are in a traffic-heavy area and I don't want to cause a mass pile-up just yet.
So, the morale of the story OP, is well done for asking and finding out, now just give it a go. I struggled with the idea of not being able to do something that nearly everyone else could, but if you don't try you'll never find out.
I'd be keen to hear how you get on and I am only based in Leeds, so drop me a PM if you fancy a ride out and falling off together at some stage