Courage is resistance to fear, mastery of fear - not absence of fear. So many look to eradicate fear from their lives, when that is an impossible task. You can certainly experience moments in absence of fear, however accept that fear will be with you whenever you are in the process of living creatively. The challenge is to go ahead regardless, simply notice the feeling and manage being courageous.
Here's a Challenge: Study a complicated topic in such detail that anyone interested can nod their head and understand as you explain specific concepts within the topic.
Our problem is that we often expect instantaneous solutions to such challenges, forgetting that frequently the heavenly virtue of patience is required.