The technique of it is this:
First you decide the product you wish to obtain.
Then you do. (Perform actions towards attaining that product.)
As a result of repeated and improved doing (or drilling if you are practicing to do) you acquire competence.
As a result of your competence, you become confident.
Most fear to do because they lack confidence.
But as the above sequence illustrates, that is wrong way to.
So a motto to apply in any area of life you wish to conquer is simply:
Decide the product,
Start to do,
Refine and do,
Accept coaching and do,
Continue to improve your do,
Until you are a Competent, Confident you!
The problem is we are not oriented to the amount of time it takes to drill and perfect our doingnesses to the point of extreme competence. So most give up well before they atain extreme competence. We look at someone really skilled at an action but do not see the enormous investment of time it took to gain that proficiency.
I read an article once that reported on a survey of all sorts of activities: sports, instrument playing etc. that found it took 10,000 hours to become world class at something.
This is one reason I encourage people to find their basic purpose in life and spend more and more time on that. It is a lot easier to persist through plateaus and difficulties let alone overcome serious obstacles if you are working on your basic purpose.