There is not a proper way or you could say there is no exact way by which you can get over the fear of failure. You can't over come this fear by just reading few books or reading some answers from internet.
Fear of failure is a common thing in everyone. Everyone suffers from this fear. There may be situations where you are getting afraid. It is not the problem related to entrepreneurial world or any other particular domain. Allow yourself to feel the fear, and then see yourself moving forward. Next, spend a few minutes planning how to get over whatever obstacles may stand in your way.