I have a friend a bit like this - I ended up suggesting we take up a Personal Trainer together on the premise that I was concerned about my 'form' with free weights
The Personal Trainer insisted on speaking with each of us separately and together before the session started and ascertained that we were both working towards different goals
The trainer then put together a session each for us to do on our own and one we could do together

I know not all PTs are like this - but maybe you could have a chat to someone at the gym and see what they suggest, I know at ours that even as a non-member they're quite happy to give advice over the phone