Lessons are definitely a good idea. You can certainly do a lot on your own and many people have, but I also think that having one-on-one time with a good instructor can help you progress farther faster than by trying to go at it alone.
For the record, I'm 44 now and started playing bass when I was about 38 and was just jamming and doing home recording with some friends. I had messed around with guitar for a lot of years before that and I volunteered to try bass. I realized I found a home and haven't really touched a guitar since then.
I finally started taking lessons this past November - from someone who's 20 years old. If you think YOU'RE nervous, try taking lessons from someone less than half your age!

I'm not sure he's the right instructor for me, though age has nothing to do with it. I just seems like sometimes when we're discussing a new topic I end up teaching him things I've already learned on my own (books, internet forums, related web sites, etc.), not to mention that his lesson plan for the foreseeable future doesn't include reading. However, just having someone with more playing experience to regularly bounce ideas off of and help direct me toward things that will help me the most is a good thing. I'm still nervous when I walk into the studio each week, but I'm also developing skills much faster than I ever did and am gaining confidence as well.
Sure, some guys do exceptionally well on they're own but I think they're the exception rather than the rule. I'm sure lessons can help just about anybody. Don't think so? Then consider Neil Peart. There aren't many drummers who can fill his shoes but even he took lessons recently -
FROM PETER ERSKINE!!!
