Regardless of how long you've skated,I think those who are afraid of falling should wear the safty gears: helmet, wrist guards, knee and elbow pads. When wearing proper gears, you don't feel much pain even if you should fall. Staying up, or staying vertical is very important lest we should get bruises, or something even worse.
For our hips or the other parts of our body to stay away from the ground , we have to deal with the fear of the speed, like we should get over the fear of water to be a good swimmer.
I think good skating is getting over the fear of speed ,becoming friends with it and ultimately enjoying skating itself. No pains(both literally and figuratively) ,no gains.
JinWoo - inline lover.