How do you overcome lack of confidence?

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I’ve been after getting back into football for a while now, and I think I’m finally at a stage I can compete, but the five year absence from the sport makes me nervous, not to mention I haven’t had a lot to do with living people for a while which increases the lack of confidence. Do I just get stuck in caring little what anyone else thinks? Has there been an event in your life that has taken a personal ‘big step’ to go for?