Failure is not to be feared. We are going to make mistakes. But the Holy Spirit never makes mistakes, and He lives inside of us, all we have to do is learn how to hear His voice, and act accordingly.
We cannot win if we are afraid, we are going to lose. It takes courage to try something when the odds are against you winning. It is better to try and to fail than never have tried, that is what my wife would always say.
Passivity, procrastination and hesitation all lead to regret. It is where we look back retrospectively at our opportunities and realize how much fear we had been in. Our future is still before us. It is vital that our past does not become our future, or regret will shadow us all our lives.
Joshua 1:7 Only be strong and very courageous, that you may observe to do according to all the law which Moses My servant commanded you.
How much more are we empowered under the New Covenant, to do all that God predestined for us!
Part of growing up spiritually, is finding out who God wants to be for us in the situations that confront us, then we can put on that new Identity.