You don’t need special skills or dance experience to learn square dancing.
If you can walk, you can learn to Square Dance. What is important is you move around the dance floor in patterns with other dancers to the cues of the caller. Don’t worry, where your feet will go, just listen to the caller. The caller will teach you the steps to the pattern you need to know. 
With square dancing, the steps are simple, and each figure is taught step-by-step in a repetitive relaxed environment, so you’ll learn quickly. Square dancing is based upon walking in defined directions for defined distances, and since walking is one of the most natural things that we do, you’ll have an easy time learning to square dance.