How can I get over my "fear" of contacts?

I guess it's not really a fear, I'm just really weird about my eyes, anything going near my eyes, touching my eyes. I remember growing up, my sister would just be sitting there and then suddenly rush to the bathroom because her contact fell out or it got folded in half while on her eye. That freaks me out.

I have had glasses since middle school (mid-20s now), and I'm just sick of them. I'm sick of always having wear them and sometimes I just want to go out, bare faced, and still be able to see. I would love to have contacts, but I don't know how to get over my "fear" of contacts.