Visiting new places for the first time advice

Hi all sorry in advance if this is the wrong section but it seems the right one. 

I’m at a loss of what I can do about this. I’m 28 suffer with autism it’s not severer autism like some, I suffer with not being able to speak to people I don’t know, going to knew places I don’t know. However I recently discovered religion and I’m planning on converting to Islam. This is were my trouble starts I really really want to visit a mosque and learn more about the religion but I don’t have the confidence to visit it on my own.

Normally wherever I go me mum comes, even to places I know. However since she’s not a Muslim I don’t think its right making her come with me, would it be worth emailing them and explaining that I have autism but wish to visit just so their aware? Once I’ve been to a new place once and I feel comfortable I will normally go again, I mean I went to college for five years a long time ago and that was bad enough the first time but I stuck it out.  

Does anyone have any advice about visiting new places