Its easy to be fearless when you're safe. Fear only comes when you step out. I'm only afraid of heights when I'm climbing the mountain. I'm only afraid of the dark at night. I've met a lot of "fearless" people who never take risks. They are always willing to give advice about what they would do in your situation but they rarely do anything themselves.
Its easy to speak up when everyone agrees with you. Its easy to dance when you're alone.