It is good practice to charge any new battery before use. Even in storage they will loose a portion of their charge. Lead acid batteries have no memory effect which is what they use for most inverter power storage. If you have another type you need to give specs.
Life is not a journey to the grave with the intention of arriving in a pretty, pristine body but rather to come sliding in sideways, all used up and exclaiming, "Wow, what a ride!"