"It is impossible to live without failing at something, unless you live so cautiously that you might has well not have lived at all, in which case you have failed by default."
J. K. Rowling
No matter who you are, no matter how good you are at something, no matter how long you have been doing a certain skill, you will always fail.. at least once anyways. It is inescapable. But while you may think it's bad, or embarrassing to fail. While you may be afraid of being judged when you fail, just understand that in reality, those who are judging you on your failure are mindless to the truth of failure, and they probably don't understand the good in failure.
When you can be comfortable with failing, you end up taking more chances in life; more risks. What good does that do? Well, it only gets you that much closer to where you are trying to get. If you play it safe or try to succeed on the first try, you will most likely not succeed, or you probably won't understand your success, in which in this case, you might just fail. And when you do, then you finally see the full spectrum of that particular success. You understand it inside and out. You can pinpoint things into a given spectrum.
Sometimes when you fail, you realize that the way you are headed isn't the right way. If you feel like that is the case, then it gives you an opportunity to discover a new path. The right path. Look at raising kids as an example. Those who are over protective of their child, and those children who are always sheltered at a young age most often end up doing the wrong things in the future and suffer for it. The reason for this is because they only know one side to things. Those who are raised without too much discipline usually end up having tough teenage years. Maybe they get into drugs, or disobey the law, you know, the stereotypes of bad teenagers. Well, they are the ones who usually end up seeing their failure and correct it. They choose the right path in the end and become successful. Now don't think I'm saying this is what happens with everyone, because it doesn't. It is a spectrum; a balance. What I want you to do is notice the pattern between the concept and reality.
When you fail then succeed, your success feels even better. You wen't through hell, and now you are here. You made it to the end. You're Rocky Balboa finally running to the top of the stair case on his morning run. If you succeed without any signs of failure, then wheres the importance. Where is the true success? Hah! If someone can be successful without failing, then I'm not sure how they are human.
Hopefully from this, you can try to overcome your fear of failure whether it be big or small. If your up for it, you might even want to do more research outside of this post.