I have never sung a whole song on my own before and I am not the best dancer in the world, but I would rather try and fall than not not try at all.
If you want something, have it. If you feel like it's forbidden, you'll want it even more. Whenever I have a craving, I go and have it and just make sure I don't have it again the next day.
I try to always stretch myself to fit the characters that have been presented.