Should i go?

My friends (and practically almost every kid in my town) are going to camps in summer and they started to sign up for them...
I've never gone to a camp before (I'm 13 almost 14) and my best friends asked me if i want to go to a camp where most of the kids are going...
I asked my father but he said that it's too expensive for just a week (about 180 euros)...
My friends always tell me that the camp is amazing and a great experience but i told them that I can't go (even if i want to) and they asked me why...i wanted to tell them that it's too expensive but I'm too embarrassed to say it...
I honestly want to go but I don't want to give a hard time to my dad...my dad asked me if i want to but i said that I don't want to go anymore...
There's also another camp that is also for a week but is cheaper (50 euros) and i think a friend of mine will come too but I'm not sure if should go to a camp because I'm too shy and I don't know how camps are...
What should i do?