I wanna start teaching but I'm not sure I'll be able to

So I'm 26 M, for a rough run down when I was in my senior year of high school I got arrested and hit with a felony (for a crime that is usually a misdemeanor and is not violent or a sex crime). This basically ruined my original college plans. I basically gave up, worked at a grocery store for awhile and then quit. Been jobless for 5 years now. Is there any realistic way I could go to a college in Pennsylvania with an extremely low tuition or for free with a scholarship or something, get a teaching degree and become a teacher with my record?

I've always wanted to be a teacher. But I think I might have messed up too much.