As far as I can tell, the most important thing is definitely shifting the cultural paradigm away from the fear & separation humans currently experience, mostly due to childhood trauma, lack of community, intentional programming (school, media, etc), artificial scarcity, and so on.

In terms of what we can do, ourselves, right now, to move in that direction, I see these as the key steps:

1. Practicing radical honesty, forgiveness, and compassion. We have to integrate our own trauma (and that of our ancestry) in order to become healthy, joyous, whole humans ourselves, so we are not part of the problem.
2. Communicating these healing journeys & ways of being to others. Shining our light as an example to all those we interact with.
3. Raising children, once we have gone through this process ourselves, so that we don't pass these same traumatic & limiting patterns on to the next generation, allowing them to go much farther than we can even imagine.
4. We must all act in alignment with our own morals & ethics. As long as humans are acting out of alignment with themselves, not only are they causing their own suffering, but they are feeding all the things that they claim to not want in the world. (Anarchists paying taxes, Vegans buying food from companies that sell animal products, etc)