If babies were as afraid of failing as many adults are, none of us (who are physically able) would walk. Evolving from crawling to walking is a painful enterprise. You fall flat on your face, repeatedly. Since memories only start to accumulate at later age, you have no recollection of kissing the floor so often.
Luckily. If we were to remember, we would be (even) more risk-averse.
You learn to walk by doing. Not by philosophizing about it theoretically. The highway to gains passes through fails.