As part of the undaunted quest in the first main zone for your faction you should have been asked to do a dungeon. you didn't do this quest? are you a dps (damage dealer)? if so then I would just queue for one of the easier dungeons and give it a go. you won't learn unless you try. if you keep dying then you can just wait until you are more in the late game.
Thanks for the heads up, I have skipped that quest and it's still in my journal. I shall complete the quest and then queue for some Dungeons. I am DPs so like you say I should just jump in and give it a go. The reason I haven't completed the Dungeon quest was purely because my lvl is 21 and the quest lvl is 7, I really can't believe I haven't done this quest sooner lol Thanks again