My advice to my younger self would be:

"Happiness is often confused with zen like comfort and bliss, but as you grow older and wiser you come to understand that the most uncomfortable situations at the time, are often closely intertwined with your best memories in hindsight, and that the worst case scenario is almost always better than the no case scenario.

See, life is a story and you're the main character in the play that is you, so make sure it's an interesting tale and not just a footnote in someone else's. Write your own story and make it one of embarrassment, shame, pain and sorrow... but also ultimately one of curiosity, exploration, adventure and triumph - it is impossible to have the latter without the former, young grasshopper; so embrace the fear because fear is what the adventure of life is all about. The comfort zone is the death zone and there's plenty of time for that when get old."