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When you can't, you must.
A simple creed, but an effective one for stretching yourself past your comfort zone.
I'm not saying become an extreme sports enthusiast or do psychotic things. I'm saying that if you fear doing something like public speaking, or asking a girl out, then you must do this thing and grow.
As long as nobody's safety is endangered, there is really no logical reason to be afraid. Take risks, try new things, and develop courage.
Recommended activity: Take Martial Arts
Sensei Ono, Shinka Martial Arts
How could you best encourage a blogger to blog?