Humans learn only by trial and error, and that includes you.

You've got to live life, not think about it. Step into the midst of things, try and fail and learn and stand up again. The question is not whether you will or will not make mistakes - you will. The question is do you want to learn and grow, or do you want to shrink back and be stuck? Take that step you've been avoiding. You can succeed, or you can get feedback that it didn't work, but in either case you are sure to feel alive.