Want to Draw Again

I hope I’m posting in the right Reddit. I started drawing like really drawing when I was a freshman in college when I was a history major I later switched to Graphic design and started taking art classes. I enjoyed drawing and was pretty decent I was definitely behind compared to my classmates. I haven’t really drawn in years and I miss it. I bought a new sketch book the other day but I’m too intimidated to draw. I know I’m going to be rusty and I’m my biggest critic and think I’m going to be awful. Is there away to get over this bump and finally start drawing regularly again?