Buy a child's handwriting book. I suggest D'Nealian. You can buy these books at Amazon. Get the ones with traceable letters. This is the best way to master printed handwriting. D'Nealian is also an italic handwriting, which will easily get you into cursive writing with little effort.
D'Nealian Handwriting Workbook K-2
You are never too old to learn how to do something well. Have confidence in yourself. Never be ashamed to start out childlike. A lot of people on this sub have excellent ideas. Good luck to you, and I hope this helps!