Photo: George Burns

The first time Tina Turner appeared on my show, I wanted to run away with her, be a backup girl, and dance all night onstage. Well, that dream came true one night in L.A. when The Oprah Winfrey Show went on tour with Tina. After a full day's rehearsal for just one song, I got my chance. It was the most nerve-racking, knee-shaking, exhilarating experience ever for me. For five minutes and 27 seconds, I got a chance to feel what it's like to rock onstage. I have never been more out of my element, out of my body. I remember counting the steps in my head, trying to keep the rhythm, waiting for the big kick, and being so self-conscious. Then, in an instant, it dawned on me: Okay, girl, this is going to be over soon. And if I didn't loosen up, I would miss the fun of it. So I threw my head back, forgot about step, step, turn, kick, and just danced.

What I know for sure is that every day brings a chance for you to draw in a breath, kick off your shoes, and step out and dance—to live free of regret and filled with as much joy, fun and laughter as you can stand. You can either waltz boldly onto the floor of life and live the way you know your spirit is nudging you to, or you can sit quietly by the wall and recede in the shadows of fear and self-doubt. You have the choice this very moment—the only moment you have for certain. Your journey begins with a choice to get up, step out, and live fully.

What Oprah Knows for Sure

• Oprah on the joy of teaching
• Discovering a new perspective
• How she feels about getting older