if your form is right and you are warmed up then you should be good to go
One tip I found is if you are doing 5 sets of 5, as an example. don't increase the weight each set, go for the heaviest you can manage on each of the 5 sets, otherwise you are just doing 4 warm up sets and 1 work one. E.g. if I am deadlifting I will do a warm up set (around 50% my max), then I might do 5 sets of 150kg, rather than warming up then doing 120kg, 130kg, 140kg, 145kg, 150kg,
Once you've been working out a while you should have a good idea of how heavy can go, and for how many reps. Don't always expect to be able to increase the weight week on and week out too, sometimes you have bad days, or you need longer to recover.
If you are unsure about form get somebody experienced to help, or film it and get some online feedback.