Just do it!
I agree with JBrunner (and every other person who likes to wander with a camera!). The fact is that you will never get these pictures unless you leave your house and take them. The only way to get over that fear is to get out there and shoot. I suggest going out to get pictures of things that will not even notice that you exist, like buildings or politicians. From there do what feels right. Good Luck and happy shooting!
PS: I did not believe people either when they told me that shooting would feel 'right' in any context