I hate to say it but you just have to go for it! Find a teacher or another language learner and schedule a time. I was struggling with the same thing while learning Spanish, feeling insecure about making mistakes while speaking. Even after I scheduled my first lesson in Skype I was secretly hoping the teacher would not attend the class haha. I think you will find that your fears are not based in reality and you will discover that most people are compassionate, understanding, and patient. If they are not that is their problem and not yours :) Good luck!