I was discussing teaching yoga with another instructor at the gym. We were lamenting our struggles when practicing difficult poses. She commented that she really needed to work on some poses before she shared them with her yoga class. She was only going to have them do what she was able to do. I replied that I have trained for years in a number of yoga styles and have received instruction on many poses I am not yet able to do. But, I have the knowledge to assist others in practicing the poses. I know the steps to take, the things to practice and can work with them to help them succeed. Even though I can't do all of the poses, I usually have someone in the room that can get pretty close or do it - so the members have a visual. And I practice along with them, letting them know we are on a journey and yoga is a practice, not a performance.
I see this reluctance to move forward in many areas of people's lives. From a yoga pose in class, simply speaking up in a meeting, to avoiding taking on a major project at work because we aren't sure of everything. If we wait until we are completely sure or know everything - we will never move forward.
Like the Zac Brown Band says "Jump right in!" - There are numerous resources and support all around just waiting to help you be successful.