I would say, don't be hesitant, but also do try to center yourself before you pick up the cards. On another thread here someone talked about drinking a cup of green tea before reading. I have since found that's a great way to center myself. Also, reading right after a relaxing bath would catch me in a very centered and calm state of mind. But if you want to read now, not wait for the water to boil or for the tub to fill, then sit for a moment in a comfortable, quiet place and clear your mind of the daily clutter. Direct your mind inward to a place that feels quiet and serene. When you've found that, or at least gotten the day's mental din to lower a few decibals, you're ready to read.
That's my simple advice.
You don't *have* to do the following, but if you want some more detailed suggestions, the following is how I like to do readings recently. Keep in mind everyone develops their own personal style. Reading Tarot for yourself is very personal.
Before I pick up the cards, I decide what I want to ask, or if there's no specific question I have in mind, I at least decide how many cards I want to use and the layout of my reading. I also decide in advance how to lay them down and turn them over.
For instance, recently I will decide that I'm going to take the deck in one hand and place them face down in a certain layout, in a certain order. After they're laid out, I'll turn them over either side to side or by flipping them top to bottom. I want to be consistent with this because I've recently started to read reversals again, which I had ignored for my past few years of reading.
Of course I have my standby readings: One card for the day, or a three-card past-present-future reading. These are great for beginners.
Now I pick up the cards and begin to mix them, keeping my mind quiet and centered on the question or purpose of the reading as I shuffle. When I feel that I've shuffled enough, I cut the deck wherever it *feels* right to do so, and start laying out the cards. In my case I like to use my non-dominant or "receptive" hand to cut them.
This is, as I said above, just my version. You can start out with suggestions such as these, or from a book, but you'll develop your own routine that you feel works for you.
Brightest Blessings!