The first step is always the hardest, but after you take it, surprinsingly and for your joy, everything will fall into place.
I don't know if this happens to you, but I was always wondering what would people think of me in certain situations, for example talking on my phone in public (where everybody can hear what I say), or wearing a sight-seeker shirt or something along those lines. That really hold me down to do things. So I also figured, most people don't give a shit, and if they comment about it, 10 min later they would have already forgotten. And of top of that, chances are you'll never see them again in your lifetime. That helped me destroy these irrational thoughts I don't even know where the hell I got them on the first place.