First off, you ARE worthy and they WILL help.
I get DLA (disability living allowance) and ESA (employment support allowance) the forms aren't pretty to fill in.
If you feel fit too go see your local welfare rights team, they know how to word it correctly so you get the most financial help. The forms for ESA are pretty bog standard you dont have to go into too much detail but the DLA forms (which I highly suggest you try and do) are pretty personal and ask how you cope with things ie social situations and if you forget to look after yourself, but be honest the smallest detail helps.
hope that helped a little. if you want help filling in the forms PM me :) i'm a pro now
