Where do we go on Sunday's?

As a kid my mum took me to church each Sunday. That changed when I turned 16 when I was encouraged to go to church. I continued until I was 18 but in those 2 years I questioned myself and other why go to church if you believe in God? Can I just pray at home? (I'm a bit of a introvert So social interaction can cause some anxieties)
Now I get the whole the discipline n stuff but if you truly believe then what's the problem?
I love churches, the old historical look I think but that's just find pleasing to the my eyes.