You think you are not pursuing your dreams because you are afraid to fail. That's a lie. Failure does not exist. 

And I can promise you this. The thing you really are afraid of (rejection, humiliation, losing) is not actually failure. It's a part of your process. And I can tell you from experience. Experiencing all of those pains hurts way less than wishing you had tried something once you are too old to pursue.

Failure does not exist. There is only actions, results, and progress. Be encouraged my friend!

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