The top sales people are the ones who faced the most rejection. The most successful songwriters are the ones that wrote the most songs that didn't get picked up. The gold medal winning gymnasts are the ones who suffered through the most workouts, falls and injuries.
The most successful people made lots of mistakes and experienced lots of failures...
And you are no different: Want to live an epic life? Don't be afraid to make mistakes. The level of your success will be in direct proportion to the level of failure you have learned from.
Now go out and start something amazing!