I'm a little afraid of the responses I will get. How can I get over this fear?

It's a good idea to go with a friend. First off, it builds a little confidence to have someone who also believes and can fill in any gaps in your knowledge. Secondly, you guys can laugh it off together afterwards if it turns out kind of awkward. You could also try going with a church group where you can just stand and just watch the first couple of times to get a feeling of what to say. Most importantly, Jesus and the Holy Spirit is with you - Jesus is so worthy of our effort and at worst, if you are rejected, they're not technically rejecting you, but Jesus.