I have been singing since I could talk...and this always helped me feel comfortable. It's some advice from my Dad 
If you just let it go and not worry about how you sound when you sing...you will sound better:) Pretend you are someone else watching you play and belt out the notes as loud as you can. When I sing it's like sometimes i hear a note that gave me goosebumps (in a good way)....and then realize that it came from MY mouth. Don't think about how you sound while you are singing. Worrying just distracts you from the song...
Also the audience appreciates it more when you let it go and give it your all. It shows a kind of vulnerability that helps you connect with them. Everybody hits a sour note once in a while, brush it off and keep going
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