To Act

I have on occasion counseled another that it would be a mistake to act from fear.
Yet,
as a youngster, hiking alone, I would come to a cliff or waterfall I was afraid to go down, but thought I should.
What I did is take off my shoes and throw them down. I created two new fears; the fear of traveling home over very rough country without shoes on my feet and the greater fear of having to explain to my parents what had happened to my shoes.
So,
I climbed down the cliff or waterfall to my shoes.
Is there a lesson in this story that can show me the way to get the increased physical activity I need to live my life healthily well?