Ok but what if I bust my head open on the way down? Well if I do I'll come to your house and haunt you.
See that's what constantly bugs me. I wanna live life to its fullest but I often hold myself back because of past experiences. Big problem on my part.
Most people often live in the past or in the future, never in the present. Past experiences are not going to shape present experiences; your mind will. It's all about perception. I'm sure you can do things today that you couldn't fathom doing a couple years ago, no matter how small they are. And when that happens, you realize how many little demons your mind created that never really existed except, well, in your own mind. Just take a chance, one small step at a time. Don't try to do everything at once, and definitely keep an open mind to the experiences you want to have. Don't shelter yourself at home if they don't go "as well as you wanted them to go". Change your line of thinking into "at least I did it, and I'm proud I did", and keep exposing yourself to those things. They'll get easier if you do it right.