You eventually stop caring about the fear. Society is designed from the ground up to keep you down. It's literally an old man's world. Don't be afraid to break the rules for yourself, your future, and people you care about- you literally need to. Try to train yourself to have the foresight you'll need to not hurt anyone who actually makes an effort to behave like a human being and you'll have done nothing wrong.
It gets easier, good luck.