Feel the fear and do it anyway.

Susan Jeffers was a psychologist and best-selling author. Although she died in 2012, her universal messages of love and gratitude continues to touch us, along with her belief that joy, not happiness, is the goal of life.
From her book, Feel the Fear and Do It Anyway:
And what is joy? It is something that expresses the ebullience of the spiritual part of ourselves. Joy is characterized by lightness, humor, laughter, and gaiety. Lighten up. If you have ever been around a person who is centered and enlightened, you are struck with their humor and ability to laugh at themselves. All the brittleness is gone and only fluidity remains.
So commit! Commit yourself to pushing through the fear and becoming more than you are at the present moment. The you that could be is absolutely colossal. You don’t need to change what you are doing— simply commit to learning how to bring to whatever you do in life the loving and powerful energy of your Higher Self.