What is fear? It's a mental construct built from your own preconceived ideas and feelings you've extracted from your past experiences that created unhappiness inside of you. That's all it is. It's not real. You create it. Failure is a relative term. In other words, just because you don't succeed the first time, second time, third, and on and on, does not mean you're a failure. It means you failed. But, if you have the right perception you will not see it as a failure, but as a learning experience. The more times you fail the closer you get to finding a way not to fail. If you want something bad enough you'll take the actions to go get it. Ask yourself, how bad do I want this? Remember, the only way to fail is to not try at all. That's failure.
Another factor in fear is judgment. We fear that others will judge us. Forget everybody else. They don't walk in your shoes. They didn't experience what you experienced. They don't know you. Their judgment, if they even have any, is worth nothing. The only value it has is the value you place on it. Put your blinders on and move forward. Take the first step and you'll most likely find that your confidence will rise. You will gain momentum. Action is the only way to get past the fear.