Inversions such as Pincha Mayurasana (Feathered Peacock Pose) present wonderful opportunities for profound physical and mental transformation, but they're also rife with obstacles. Begin by simply noticing the obstacles that keep you from going upside down easily. When you acknowledge these blocks, you have something to work with, and a pathway to new possibilities reveals itself. You can nudge things along by cultivating meditative awareness and breaking inversions down into smaller, easier steps. This makes the goal of "perfection" less important; instead, you can work creatively and enjoy the journey, no matter how long it takes.
If the physical aspect is hanging you up, concentrate on your upper body or your abdominal muscles to create the conditions necessary to go upside down. If fear is the problem and it takes hold, fully experience its texture as it arises, stay steady as those feelings move through you, and observe how they naturally dissolve.