Long ago I lost track of how many conference talks I've given. The first step for most of those was taking a deep breath, logging in to the conference website, and writing a short description about what I would talk about.
The first step on the journey is responding to a call for papers, call for sessions, or call for talks. So, I learned to ignore the fear of rejection, and just throw my idea in the pot. There was so much more to gain from the risk the organisers would say yes, than the risk they would say no.