Have you ever started a new project, or a new job, or a new hobby, or a new experience? If you have then you have probably felt that feeling of fear, or panic, or discomfort at not knowing what you are doing, or where you are going, or how you are going to do accomplish what you need to.
That fear/panic/discomfort is natural. It is an indicator to let you know that you are at the edge of your experience and about to step out of your comfort zone. Stepping off the edge of fear and out of your comfort zone is the point at which you start exploring and expanding yourself. At that point you can begin to learn and grow and become more than who and what you were the moment before you when you were still being comfortably afraid. Embrace the fear of the unknown. Come to thrive upon it and your horizons and perspectives will explode, opening to you a whole universe of possibility.
Do not be afraid to make mistakes. If you did everything perfectly the first time you would be a god. And since you know you are not a god yet, it makes sense that you still have some things to learn, thus, you still have some (likely many) mistakes to make. Mistakes are only bad if you choose not to learn from them. Mistakes can be painful, uncomfortable, and humiliating. Find joy in recognizing mistakes when you make them and take care to learn from them so that you do not have to repeat them.
For God hath not given us the spirit of fear; but of power, and of love, and of a sound mind. (2 Timothy 1:7)