Are we taught to try to understand our fears?

On page 13 of [Good Questions, Good Answers](http://www.buddhanet.net/pdf_file/gqga-5ed.pdf) it says, > The Buddha taught us to try to understand our fears, to lessen our desires and to calmly and courageously accept the things we cannot change. Is it true that we're taught to try to understand our fears? Assuming it's true, do you suppose it means nothing more or less than the first noble truth: i.e. that dukkha is fear and vice versa? Or does it mean something else? Are there techniques to "understand our fear"?