Climbing the learning curve is not nearly as stressful as the stockpiling guilt of an undone job. Learn from other people's experiences. Read books and articles, watch the Discovery Channel, or talk to people who successfully do what you are avoiding. Typically, these people know exactly how to do the things they are supposed to do. But often they are indecisive as to how to tackle their tasks.
Indecision can breed procrastination faster than rabbits can reproduce.
If you know how to do something but are indecisive as to how to go about it, take the time to develop an action plan to tackle the task. Human development expert Brian Tracy teaches that for every one minute a person spends planning that person saves five minutes of action time. Once you develop the plan, you will have a clear course of action before you. This clear course of action will enable you to go about your business with vigor and confidence. Often times, we don't want to do something because the size or length of a process intimidates us.