I love Crossfit but you don't need to spend big $$$ to do it. The crossfit website has videos on the movements and proper mechanics and how to setup a garage gym. I pay to go to a box because it sucks to do it alone. The trainers (I'm not one) take an intensive weekend course and have to demonstrate the movements and know fundamentals in order to pass. Most box owners will supervise a new trainer for awhile (like an apprentice) before allowing them free run of a class.
All crossfit boxes have a free trail class . Get ahold of one and go. Talk to the trainers, decide which is the best fit for you. Each one has a different atmosphere.
Bottom line, try it!