Courage becomes easier when regret starts looking more frightening than failure.

At some point the arithmetic changes. Failing at something becomes less frightening than reaching the end and knowing you never tried, and once that shift occurs, action gets much easier. It is not that fear went away; it is that a bigger fear moved in beside it and pointed the other direction.

You can bring that comparison forward deliberately. Picture yourself years from now having not done the thing, in specific detail rather than the abstract. If that picture is worse than the picture of failing, you have your answer, and it will feel less like bravery than like straightforward preference.