Fear is always borne of the unknown and desire always draws us toward it. The two can have a tumultuous relationship that can nonetheless be converted into even greater access, provided we know how to harness the horsepower of fear to drive desire rather than allow ourselves to be derailed by an unguided force.
In a world that exalts the rigidity of self-will and control, desire occurs as inherently threatening. But it is not the desire that is overwhelming. Rather, it is the emergence of desire in the face of a mind trying to maintain a fixed reality.