It depends.
If she's the sort of child who needs a little push to do things, and you've chosen one she'll enjoy, then I'd send her.
If she's the sort of child who usually wants to do things and get out, then I'd listen to her.
Dd1 and dd2 both loved doing things. Dd2 in particular could be excited for 9 months at something booked that she'd never tried before and people she didn't know.
Dd1 tended to like the idea, have a slight confidence crisis at the door and then once I'd walked her in be fine.
If dd2 said she didn't want to do anything then I'd have pulled her out. If dd1 had said she didn't I would have found out why and made a decision with her whether to do it or not.
Ds is a total kettle of fish. Anything new, even if it is something he loves the idea of, he will not want to do it, possibly even with tears. So he does less things. However there are times when I tell him he is going to do it, otherwise he would never do anything.
I make sure it is something I know he'll love, and also make sure the group leader is clear that if he's struggling then I want them to phone me and not jolly him along. In your case I'd tell him he had to do the first day and then we'd discuss the next day in the evening each day and he didn't have to do it. I've only once had the case when he did decide not to continue.
But he can have something he's loved, book it for the next year at his request and he will go through another crisis of confidence again the next year, which the girls never did.
He's much more a home bird than the girls.
For example last year he did a theatre production. He wasn't sure about doing it, but absolutely loved it when it came round to doing it. He slightly got cornered into an audition.
He was desperate to do it again this year and asked me week after week when the auditions were.
When it came to putting him down for auditions (2 months in advance) he said he wanted a good part with a solo song. About a month before he wanted the solo taken out. A week before he decided he didn't want to do it.
I took him in saying he didn't want to audition and didn't want to do it.
He then got given the massive part of villager 3 and burst into tears because it was "too big".
But a week later he was begging to know when rehearsals started-until the day before when he panicked and said he wanted me to say he wasn't doing it. I bribed him into the first rehearsal and since them he's living from one rehearsal to the next, and saying how wonderful it is.