You give them the skills they need. You lead by example and at some point you need to let go of the ropes and either let them stand on their own two feet or trust them to the care of others who can continue their learning process.
Parenting - the toughest, most frustrating, most rewarding, thing you will do. Ever.
The balance between protecting and giving them the space to be independent and make their own mistakes is one of the most difficult aspects.
I watched an awesome example of leading off and then standing back at the Kangaroo Point Cliffs this afternoon where abseiling class was underway.
With a whole family of well wishers at the bottom cheering them on, Mum went over the top first. Having done it myself, I can tell you it's a long, long way down. The trick is to never look down. One step after the other. Mum stumbled a bit but she did it.
Then it was Mason's turn.
He looked down, grinned at the crowd and then stepped off.
He collected himself, managed to swing around and continued his descent into the waiting arms of Mum at the bottom. He'd done it and the family cheered.