What if the problem has always been me?

I think I have finally realized that I have been an extremely anxious person for as long as I can remember. Even as a kid I was scared of everything, embarrassed easily and constantly worried about what other people thought.

Over time I started finding explanations for why I became this way, like blaming my parents, my upbringing or certain experiences. They probably contributed, but at some point I also have to admit that I am the common denominator and that I keep reinforcing the same patterns myself.

The problem is that I genuinely do not know how to change. I try to become more confident, take risks and stop letting fear control my decisions, but sooner or later I fall back into the same behavior.

Meanwhile I watch other people build careers, relationships, get married, travel and actually enjoy their lives while most of my decisions seem to be based on avoiding fear rather than moving toward something I want.

It is frustrating because I feel like I have the potential to do much more with my life, but knowing that has never been enough to change anything.

Has anyone here actually changed after being fearful for most of their life? What finally helped?