IT’S ME
n.b. what worked for me might not work for other people, so definitely don't give up if this advice doesn't suit you!
First is *buy a bike*, which sounds obvious, but isn't. Don't borrow someone else's - get something that feels like it's going to be with you for a long time.
This is when you will inevitably smack yourself in the shin/pulverise your ankles, but pain is a good teacher and it won't happen a lot. Practice gliding like before, but then naturally you'll want to put your feet on the pedals.
Anyway if you're thinking of learning, definitely give it a go. Don't learn like you're a kid, respect the fact it's more difficult for adults, and be kind to yourself.