Getting knocked down becomes less frightening once you know what getting back up feels like.

The fear of failing is largely the fear of an unknown aftermath. Once you have actually been through it and got up, the aftermath is no longer imaginary, and imagination was doing most of the frightening. You do not become fond of falling. You just stop treating it as the end of everything, which means you can attempt more.

Recall a specific failure you recovered from and what the recovery actually involved. Notice how much shorter and more ordinary it was than the version you feared. Then let that realistic picture be what you consult before the next risk.