Is it ever ok to - - - - - - ? (fill in your word... limp, call behind, min raise, check raise air, masturbate, ask your best friends girl on a date...etc..)
Probably. As long as the situation calls for it.
There are some things a newer or more inexperienced player should do or not do. As soon as you find you are doing things for a reason directly involving the hand you are in, then you can quit having a one-size-fits-all strategy approach and vary your play.
If you do not ask yourself "why am I going to do what I am about to do (raise, call, limp, check with a plan to C/R etc)" then you should start.
If you do not understand those dynamics of the game yet, then have a basic strategy, and that would involve, if first to act, raise. But start to think ahead.
"If I raise from CO, I know SB is super agro so he will likely re raise with a large portion of holdings." This is a scenario you can do a lot with. As only one example.
If all this is too much, read some good basic beginner books. (not meant as a slight, I still re read a lot of basic books, but I probably need to.....lol) If you want suggestions on books, just ask.