You'll never be brave if you don't get hurt. You'll never learn if you don't make mistakes. You'll never be successful if you don't encounter failure.
The best thing that you can do in life is to follow your heart. Take risks. Don't just take the safe and easy route because you're afraid of what might happen. Don't have any regrets and know that everything happens for a reason. The greater danger for most of us lies not in setting our aim too high and falling short; but in setting our aim too low, and achieving our mark.