How do you overcome a fear? Any suggestions or tips?

This fear can be anything such as petting animals/reptiles you are scared of, fear of heights, the fear of failure, fear of injury such as attempting to do a back flip and coming down on your head and injuring your neck and etc... there's so many fears. How can you over come them? What do you do to overcome fear?
How do you overcome a fear? Any suggestions or tips?
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