Have patience, and do not hesitate.
When you act, act with certainty. If you are not certain, do not act. Or make yourself certain of this: You will fail. You will fail many times.
Failure does not cost as much as inaction.
Inaction is itself failure.
But even that failure can never be complete. For even in inaction, we have consciousness. And it is the nature of consciousness to try. It is the nature of life to try. To live. To grow.
As long as you are alive, some part of you still knows that it is the energy of potential. Some part of you has caught a whiff of the infinite possibilities beyond your current state of being, and as long as you are alive, that light in you will seek its source.
If you learn to trust the light within you that seeks its source, you will be lead to wisdom. You will find within yourself deep wells of compassion and rich reserves of kindness. In this, you will find joy.
Humble yourself to the inevitability of failure, and resolve to learn your lessons, but come back daily to the spark within you and the well of inner resource. And when right action becomes clear, step forward with the calm certainty of one who has failed before and is not afraid.