I remember when I was little and my parents would take me to the park I wouldn't come near the slides because I was afraid I was going to fall and embarrass myself. Finally I would do it with my dad next to me promising he would catch me if I were to fall. It never happened, however everytime I had to do it for the first time I was scared. I missed on a lot of fun stuff when I was little and I still do today. The difference is - now I'm trying to change that.
Please just stop caring what they think. Most people don't even care. And those who really do care about you will love you and be there for you no matter what. Take care of yourself first.