The more scared we are, the harder it becomes. We become rigid and our ability to balance becomes impossible.
Eventually, we just have to let go and let it happen. We can’t force it. We can’t overthink it. We have to accept that we will fall, and not worry about it (perhaps prepare for it, with a helmet, for example).
This past week I learned that it’s difficult (if not impossible) to teach someone to skate (that someone being my daughter). We can prepare them to learn. But, yelling ‘bend your knees’ or ‘lean forward’ doesn’t really help (it adds pressure and fuels the fear, see above). At the end of the day they have to fall, get up, and keep trying. Then they learn.