No, but it takes some practice doing it seem effortless. With a lesson you’ll learn the basics, and the rest is just practice over a day or two.

If you’re driving automatic correctly, your left foot should be available, and the only thing different with your feet is that your left foot now needs to handle the clutch. This means during (some of the) braking or other times when you want to disengage the drivetrain.

After a little while you get a feel for listening to the RPM, and you begin to shift gear automatically based on the engine sound, or any planned changes in speed/torque.

Oh, and it’s worth noting that most cars are somewhat different when it comes to clutching: Some have the car equivalent of a hair trigger, others are much more lenient. If you’ve gotten used to one car, trying out a different one might be useful.