Instead of eliminating fear, dance with it.
If our goal is to eliminate fear, then it's quite easy. If we decide not to do anything outside our comfort zone, fear will simply go away. But, in that case, instead of fear, we will end up with misery and a lousy way of living.
When we step out of our comfort zone, when we start moving towards the edges, fear will show up. That's part of the process. What we need to learn is how to dance with the fear, how to take blows and how to give them, how to not let fear dominate you and also not try to dominate it either.
The more we learn how to act when fear is present, the faster we move forward with the work that we seek to do.
Seth Godin has written wonderfully about it. Read more here.