Does fear make us hesitate?

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Let us be conscious and not allow fear to prevent us from serving God wholeheartedly.
12 Therefore, brothers, I urge you, in view of God's mercy, to present your bodies as a living sacrifice, holy and pleasing to God—this is your spiritual act of worship. 2 Do not be conformed to the pattern of this world, but be transformed by the renewing of your mind, so that you may prove what God's will is, his good and acceptable and perfect will.
Romans 12:1-2
God has prepared us to do every good work with power and enthusiasm, especially with readiness for his name. Yet, sometimes we hesitate; apart from reading the Word and praying, sometimes we delay in other actions, such as serving in the church.
10 Each of you should use whatever gift you have received to serve others, stewarding God's grace in its various forms.
1 Peter 4:10
This word confronts us and at the same time invites us to examine ourselves and thus discover what we avoid, that work we often believe we cannot do and that somehow prevents us from serving within our community or church.
6 I planted, Apollos watered; but God gave the growth. 7 So neither the one who plants nor the one who waters is anything, but God gives the growth. 8 He who plants and he who waters are one and the same, and each will receive his own reward according to his labor. 9 For we are God's fellow workers, you are God's field, God's building.
1 Corinthians 3:6-9
Another area in which we must be prompt is in sharing our faith; in this we must not waver. There are times when we feel anxious about the way we express ourselves or how other people will react, but our job is to plant the seed; that is our great responsibility. Then the Lord takes care of giving it growth and maturity.
Let us also be quick to allow God's will to work in our lives, that is, to think about giving control to God. This may cause us fear or anxiety, but the reality is that we need to be confident that everything God arranges for us is only for our good.
20 Therefore, we are ambassadors for Christ, as though God were making his appeal through us. We implore you on Christ's behalf: Be reconciled to God.
2 Corinthians 5:20