My son had the ability to ride his bike without stabilisers, but all he was lacking was the confidence. He needed to get over the fear of failure and the fear of falling off.
So I unbolted the training wheels and helped my son on to his bike. And then we just practiced falling off, falling over, and generally pratting around. We broke down the fear barrier by ridiculing it.
It’s okay to be afraid. The turning point in my life came when I realised that I couldn’t escape fear. It’s hard-coded into each and every one of us. It serves a powerful evolutionary purpose, so rather than trying to deny it I realised the only way forward was to embrace it and accept it for what it was.