Confidence has almost nothing to do with the ability to avoid mistakes and missteps. It has almost everything to do with the ability to pay more attention to the task at hand without constantly looking over your shoulder. Making mistakes and recovering quickly from them become a part of the process instead of show stoppers.
If you are trying to get back to riding a bicycle in your forties, just so you can go sit in that quiet, green spot in the outskirts of your city, your attention will be on that task. The more fully you are absorbed in it, the harder it will be to get distracted or embarrassed (for too long) by every wobble, misstep and eye-roll on the way.
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