If you are afraid you'll make mistakes, learn from others and by experience.
You aren't at the end of your learning curve. Good to have humility and realize: you don't know it all. That's it!
Learning dating skills? Your instincts do most of it... Almost! The 20% remaining will come from understanding, introspection, the net, friends, a manual like this one, some advice or a couple of coaching sessions.
Take the step!