I'll take a risk by first stating: You are always one decision away from a totally different life.
Every action we take is subsequently made out of fear. Fear of losing. Fear of giving. Fear of having our bubble of safety popped. I don't know about you, but when my comfort zone screams "right," I run "left." Conclusively, I have lived my best life by doing so.
Watching people getting stuck in a mundane life makes my heart hurt. There is so much just outside the norm waiting for us to reach out and experience it. You can start by simply ordering something different off the menu or you can leap, sans safety net and dive head first toward that big decision you've always talked about making.
There are essentially two scenarios. Picture yourself in both of them and choose wisely. Scenario one: you are 10 years down the road and thinking back on today. You think "that could have been magnificent, but I was afraid". You shrug off the thought and continue about your day. Scenario two: you are 10 years down the road and telling a story to a stranger. You conclude your story with "fear tried to cheat me out of the best thing in life, but I didn't let it". I implore you to choose scenario two. It won't always be right, but even if it is wrong you will be able to say "oops" rather than "what if". After all, the adventure often matters more than the destination.
"I don't think anyone is ever ready, but when someone makes you feel alive again it's kind of worth the risk" - Nikki Rowe