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.
You don't have to be the world's top expert to share your ideas and perspective, you just need to care about your topic and invite your audience to see it, hear it, and think about it the way you do. I encourage everyone to do this, at least once.
I've now become too complacent, and comfortable speaking. It's time for me to stretch.