I’m sorry this happened to you! Yes, I think workouts need not be painful. It’s best to ease into it and ramp up according to what’s comfortable until you hit your goal, rather than trying to make drastic changes real fast. It would be good if more people were aware of this. I’m sorry you had to learn the hard way!
I was advised by a group therapist, when having “cold feet” about commitment in a relationship, to just think about how bad the alternative might be. She had a friend who had reservations about getting married, and then thought not getting married would be stressful too, so she went ahead with the marriage. It was terrible advice, especially from a therapist providing guidance for some very troubled people. The only good reason to commit to a relationship is because you really want it, not because you’re afraid of what will happen otherwise!