Stanza #1 is talking about a person being afraid to take risks in life. They are scared and not willing to move out of their comfort zone.
Stanza #2 is talking about that same person yearning to take a risk, even though it's not something they would normally do. By the end of the stanza, the person feels as if they are ready for said risk and are mentally preparing themselves.
By stanza #3 the person has pushed through their insecurities and fear and took a risk they were afraid of. They feel a sense of freedom and relief they had not felt in a long time