We have great helps to give us courage in this life. The greatest is the Atonement of Jesus Christ. Because of what He did, sins can be washed away in the waters of baptism. We can renew that blessing when we partake of the sacrament in faith and with a repentant heart.
Spiritual gifts are another help. We receive the Spirit of Christ at birth. That gives us the power to know when a choice would lead toward eternal life. The scriptures are a sure guide when we read them with the Holy Ghost as our companion.
The Holy Ghost lets us express thanks and ask for help in prayer with the clarity and confidence we once enjoyed with our Heavenly Father and which we will have when we return to Him. That communication with God helps banish fear from our hearts as it builds faith and love of Heavenly Father and Jesus Christ.
The Prophet Joseph Smith in his service had reason to be fearful. But God gave him courage.
God has given us more than enough help to banish fear and give us courage, whatever we may face in life. As we reach out for His help, He can lift us toward eternal life.