Preparation Eliminates Fear
Fear is formed when the mind focuses on the uncertainty of future outcomes.
If you want to take action, the only thing you need to do is make a commitment. Why? Commitment means an action is taking place and your brain is focusing on something else besides the fear.
Commitments are not decisions, commitments are not preferences, commitments are not ideals. They are stronger and deeper, they are steadfast and immovable. Once you commit to something, nothing else matters.
All fear is neutralized when commitment is proven through action. This is how your brain works.
And, as an added bonus, when you are committed to something, you don't need motivation.