Dont worry about being a "novice" , nor worry about embarrassing yourself - you ride at a pace you are comfortable with , it's NOT a race.
Tuition is available for a small fee , as I understand it.
I have done 14 trackdays over the last 2 years at least half of which I did in the novice group , I moved up when I felt comfortable not because my mates were there already.
Yes you will feel nervous its only natural, and yes your mates will all talk a good deal about how good they are, chances are they are just as nervous especially if they have only done 1 or 2 or none at all.