Alisha (and others):
One thing to keep in mind about most types of photography, street photography included, is that with time and effort, you will most likely gain skill at it. Each experience will teach you something more about it, and add to your list of tricks and techniques.
It is amazing how much less anxious you will feel once you gain some experience .
It also really helps to have an identifiable purpose. Most of my street photography was done in the context of working for a newspaper. It really helped if people knew why I was doing what I was doing.