Self acceptance is the first step. Confidence and self-respect is what ultimately "cures" it. Whenever I have a bad speech day, I read in my journal of a day that I achieved great speaking success, days where I go "Damn! Was that really me?!" The thing with overcoming stuttering is that you need to develop the ability to bounce back into an optimistic mindset immediately after a bad experience. And I think age plays a part too. The older we get, the less pain we get from stuttering and the less it matters, because in the end everyone just wants to be happy.