Always remember one thing in life: unless you take any action, absolutely nothing will happen. It holds true to every situation in life and is true for every field, whether personal or professional.
There is never a right time. You may think you are waiting for the right time but most likely, and in most of the cases, this is an excuse. You make this excuse because you fear stepping into the unknown. However, what you should know is that the unknown can be as transformative as it can be horrifying.
Therefore it is necessary that you face your fears and take the first step. There is no other way to find out what you are capable of.
See fear as a call to action and let your actions be louder than your words!