Habits really are wonderful things. The habit of brushing your teeth twice a day. The habit of going to the gym. The habit of cleaning your home.
Once an action has become a habit you can do it in a state of flow, your body performs the action but your mind is free to wander. This is why we have so many deep thoughts in the shower. We are engaged in a task that keeps us from other distractions, but we still have room for mental processing without the disturbance of facebook or twitter.
Once an action has become a habit all anxiety disappears. I have a habit of shopping zero waste, a habit of eating vegan, a habit of not over consuming. All of these things were nerve wracking to start, but in time they became a natural part of my life.
Every hard thing you are afraid to try now could be a habit in a few weeks time. You just need to take the first step.