Since the machine is always there, you can always put off the workout. At the gym, once you arrive, you can leave everything else on your mind at the door and focus solely on your workout , your body, your improvement. This is your time. This is for you. Following the same routine on the same machine can get downright boring.
Some people say they find gyms intimidating.
They are looking at it in the wrong manner. It should be inspiring. If you think that people have better bodies than you, then work out harder to improve yours. If you think that people are looking at you and talking about you, forget it. Most of them are thinking about themselves.