Our first and foremost commitment is to do seva (service) in the world.
The very thought "I am here in this world to do seva (service)", dissolves the "I", and when the "I" dissolves, worries dissolve. Seva is not something you do out of convenience, or for pleasure. The ultimate purpose of life is to be of service.
If there is fear in your life, it is because of a lack of commitment. If there is confusion in your life, it is because of lack of commitment. An uncommitted mind is miserable. A committed mind may experience rough weather but will reap the fruits of its toil.
When you make service the sole purpose of your life, it eliminates fear, brings focus in your mind, purposefulness to your action, long term joy and may be short term problems!