Can I go to the mosque if I don't know how to pray yet?

Everyone started somewhere

Every Muslim once had to learn the prayer, and many people in the rows learned it as adults. The Prophet ﷺ was a patient teacher. When a new Muslim, Mu'awiyah ibn al-Hakam, spoke out loud during prayer without knowing it wasn't allowed, the Prophet ﷺ didn't scold him. Mu'awiyah said he had never seen a better or kinder teacher (Sahih Muslim 537). Islam is built on ease:

What you can do at the mosque

• Watch first. Sit at the back or side during prayer and observe the movements.
• Join the row and follow. In congregation you simply copy the imam: stand when he stands, bow when he bows. If you don't know the words yet, you can stand quietly or say "SubhanAllah" and "Alhamdulillah" while you learn.
• Ask after prayer. Most imams and regulars are glad to show a new Muslim how to make wudu and pray.
• Join a beginners' class if your mosque offers one.

If you're not Muslim yet

You're welcome too. Many people visit mosques for months before taking their shahada. You can watch, and some people even stand in the row to see what it feels like. See Can I pray with Muslims if I'm not Muslim yet?

Learning at your own pace

Start with the basics: wudu, the positions, and Surah al-Fatiha. Pray what you can while you learn; Allah sees your effort. See How do I pray as a Muslim? Then add short surahs bit by bit. See How do I memorize short surahs for prayer? And if you feel overwhelmed by five prayers a day, read Do I have to pray five times a day right after becoming Muslim?

Small things that help

Wear modest, comfortable clothes, take off your shoes at the entrance, and don't worry about getting the details wrong. If someone corrects you, it's usually meant kindly. Nobody is watching you as closely as you think; everyone is focused on their own prayer.