Do not always be afraid to make mistakes. And do not envy those who tell you that they have never made mistakes. Your experiences make you have more advanced knowledge about life and how to deal with people, situations. You are at a more advantage over these people than they can ever imagine.
In fact, count it a privilege that you have an opportunity to give it a try ones more. If you keep avoiding people(to stay away from making mistakes), how will you learn?
An adage says "a person who has never made mistakes has never achieved anything".