YES, but first...
You must really want to because you'll need to face your fear! this will likely make you very uncomfortable at times.
Just thinking about it might get you panicked. But keep these points in mind: (a)you can take baby steps toward your goal. (b)there are experts who can help you come up with a plan + coach you through it. (c)doing the work, you'll gradually diminish your fear and expand your world.