Personal testimony: I had tremendous difficulty with the calculus at
school, and indeed dropped maths in consequence. I only got what it
was about after -- much later -- reading its history: in particular,
Morris Klein's "Mathematics in Western Culture".
This encouraged me to go back and take Pure Maths and Applied Maths
A-levels as a mature student.
Of course, this may demonstrate no more than that people with no
innate technical talent can come to appreciate a subject through its history.
Julian Wells