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Where i work they have a program where you can go to Tai Chi at lunch time. I have never really thought about doing it tho because it looks to hard i can hardly remember kata let alone the huge patterns in tai chi.
Might be an idea to try a class, I don't think anyone would expect you to get it right on the first go. I was useless when I started (still am!!) - because I'd spent years doing GKR I found it hard to get out of the Hard/Fast mindset and relax properly.