Yes, I have been doing CrossFit for over a year now and I love it.
Don't worry, a lot of the "prescribed" WOD are not do-able for most people, including me. The nice thing about them is, ALL WOD can be scaled down to your personal abilities or modified with proper movement progressions.
If you are really interested in the program, I would recommend to look for a CrossFit affiliate near you and check it out. Most of the affiliates have a program for people starting off. Usually all the movements and proper form will be explained and practiced in great detail. This is especially important when the lifts start to get "heavy" and to prevent getting into bad habits that might get you hurt. They will show you progressions to work up to movements you are not able to do at this point, for example ring dips, pull-ups, muscle-ups, etc. Also, the WOD will be a little easier in the beginning to get used to. They can also provide you with information about nutrition if you wish.
Of cause, you can get the WOD from the internet and do them at home, but personally, I find it very beneficial to have a coach watching/correcting your movements and not to forget to chear you on.
Keep in mind, that the WOD are INTENSE and pushing limits, so take it easy in the beginning and maybe talk to your doc if there are medical concerns.
I like to work-out with people pushing each other and enjoy the CrossFit community a lot. A big plus for me was that the WOD are short, intense and fit in the bussiest schedule. I have done a lot of different programs, but found that CrossFit is the real deal for me!
A usefull tool is keeping a log about your WOD like weights used and times. It makes it a lot easier and fun for you to see your progress!
Enjoy