I think i understand you, as i've had this feeling for years, and it still pops up once in a while.
Its a deep problem, im not saying its easy to overcome, as it takes time, and quite a lot of work, but its worth it. Things i have realized about this, are that we are so afraid of making mistakes, and being hurt, that we would much rather not do anything, than risk making a mistake again, but that in itself is the biggest mistake we can make, by giving up on ourselves. There is no paradise, no ultimate happiness im afraid, but there might as well be hell, that we create for ourselves when we put all that matters into a self destructive process, because by doing nothing, we are actually doing a hell of a lot. We let all of our previous mistakes happen over, and over again.
Taking small steps in the direction of going out of our comfort zone, whatever it might be, is actually preparing us for taking much bigger steps, and belive me, because of what has happened to me in the past, i rarely see the steps i take, cause im still afraid i will fall into the same hellish pit i've been in before, so i rarely feel any pleasure related to what i have "achived". So there is no easy way, no short cuts. Dont belive any gurus, or saviours, cause its all in your hands. Dont be afraid to make mistakes, but learn from them. And repeat this process, over and over again, cause its the only way to make progress. If there was no frustration, there would be no need to do anything. Because there is frustration, you feel uneasy about the situation you're in, cause you know there is something better waiting for you, and the pain that is associated with it, is actually the healing process, cause your body is telling you to do something, as you are suffering immensly. The body is intelligent, and it will do things for you, if you allow yourself to go along with what it is telling you. You dont have to use your mind to dictate how it should behave, but if you stop limiting yourself, it will do things automatically for you, it just takes time.