Expanding your zone of comfort

Have you ever been in a situation where you are trying to do something that isn't your favorite? Maybe it was speaking German for the first time in a coffee shop. And as your hesitation is getting the better of you, someone tries to help and says, "Just do it, get out of your comfort zone!"? Would that be helpful for you? Those were never words of encouragement for me. Sometimes, I would say, it even gave me a good reason to resist and stay in my comfort zone! But we know that trying new things, especially things that might scare us, are good for us to experience life. Okay, maybe it's good to hesitate if you want to jump from 2 stories into a lake without knowing how to swim, but that's not the fear/hesitation I'm talking about. (I realized that I wrote more than I thought, so I added a very brief tl;dr at the bottom.)