I agree that its a great feeling to have the sense you overcome a fear. Standing up to ask questions can build your confidence in other situations. I find one effective way to deal with fear is to understand the root causes. As you learn you may be creating an illusion, convincing yourself to be scared simply because you imagine the worst may happen if you act, then it gets easier to rise above it.
This links offer some intriguing ideas about the origins of fears and phobias:
Origin of Fear
Eckhart Tolle, author of "The Power of Now" also reflects on fear here:
The Origin of Fear - Eckhart Tolle - HealthWorld Online