There's a saying that's attributed to Eleanor Roosevelt, do one thing every day that scares you. You don't have to jump out of a plane or hold a snake. We all have fears:
fear of spiders 
fear of snakes
fear of what people will think of you
fear of making a fool of yourself
fear of public speaking
fear of failure...
You learn to be brave by facing your fears, not by avoiding them. You can feel the fear and do it afraid. Some of my favourite memories involved a degree of fear - zip lining in Thailand, watching whales miles from the coast, exploring crowded markets in Cambodia, tasting exotic dishes in Bali, climbing the Sydney harbour bridge. Most personal growth happens outside our comfort zone so be brave!