I only taught myself to swim when our daughter was a toddler. I could see that she would end up learning to swim, but her dad would not be able to go with her, so I would miss out on a lot. So I took myself off to the pool and basically made myself keep trying until I got the hang of it. A noseclip and some goggles do help to overcome the unpleasant feeling of the water on your face, to start with.....
Fast forward a couple of years and I took up kayaking, which gave me plenty of opportunities to put my new found skill into practice! Sometimes the swims were even on purpose.....
And I ended up being a kayak instructor, all because I made myself learn to keep my little girl company...