Stepping out of your comfort zone is scary for everyone, even seasoned performers.

She toldPeoplethe heartwarming reason why: She wants to inspire her daughters.

“You shouldn’t let the fear of, ‘What if I’m not good enough?’

Alyson Hannigan in DWTS promo pic

hold you back,” Hannigan said.

“I’m doing something that terrifies me.

It doesn’t come naturally, but I’m going to work hard to improve every week.”

Alyson Hannigan and Sasha Farber dancing

“Just getting to Taylor Night.

I don’t need the trophy.

I just need to be at Taylor Swift Night.”

Alyson Hannigan and Taylor Swift