Practicing produces improvement and wisdom. While learning to reach the ideal and desired result, by doing you naturally find ways to be more efficient. Learning can be done through study, but it is the act of doing that solidifies understanding.
To do, however, takes courage. By accepting fear as the emotion hindering you from taking action, you can logically overcome it. To do is to act and continued actions are the reinforcements that destroy fear; fear that is caused by expectations and imagination. Act.