What has worked for me is thinking about what could happen if I stutter, and then asking myself if I can deal with that or not. Simulate it in your head. If you find that you can deal with the consequences, remind yourself of that again and again as many times as it takes. Thinking repeatedly "it's just an inconvenience" (while actually knowing it and understanding why it is so) before engaging, or when anxiety appears, as helped me tremendously. With enough practice you'll be able to let it go.