Great advice here. I taught myself to play late in life because I did not have the time or willingness to take lessons. Well, I can shoot pretty consistently in the mid to high 80's on courses up to 6,500 yards, but I will never get any better. My stance sucks, my form sucks and my swing sucks. I learned to play with my poor form and do pretty well with it - enough to really enjoy the game. However, if I had to do it over, I would definitely take lessons.
One thing I would stress for beginners; learn to drive the ball straight. If you are in play all the time your scores will improve dramatically. One thing I can do well is drive the ball straight. It keeps me in play and allows me to score reasonably well if my irons and short game are "on".