Do you find yourself under-confident in taking up tasks at your job? How to get over this?

When my team lead/manager asks me if I can do something that involves some level of technical knowledge, I feel uneasy and try to back out of it because I'm a fresher and I don't feel like I can do the task and fear that I might fail. Which would give a bad impression of me and my skills so I just stay away from everything I am not 100% comfortable with, which is most things 😭

I think I'm robbing myself of opportunities to learn but the fear of failure is soooo strong. Has anyone felt this way? It's self sabotaging I feel. How do I get over this?