About 11.5 months ago I did an exhibition- I had only been skating once a week (after barely skating at all the 10 years prior), and it was the first time I had skated in front of an audience in a good 12 years. One of the rink group coaches warned me jokingly - "be careful or you'll catch the skating bug! Before you know it you'll be competiting again!"
I laughed and said that part if my life was probably over ... Well, he was right. Three months later I found a coach and I'll be missing this year's exhibition for adult nationals. :b
Exhibitions are great though. It gives skaters of all ages and skills something to work towards - there is nothing like a looming performance or competition that makes you perfect your skills! Plus, no matter how well I skate, I feel so accomplished afterwards.
Don't worry about embarrassing yourselves. First, it's fun! Second, you're better than a very good portion of the audience, and third, you may inspire other adults to skate. A growing community can only benefit this wonderful (insane, expensive) sport.