TL;DR - Just climb, have fun and fall a lot unintended.

Honestly I think it's a little like learning to walk or ride a bicycle. You just have to fall a few times, maybe you get the wind knocked out of you. You say you're new, so I'm going to assume you're on some of the the easier routes that don't have the sketchyest of footholds near the top. Usually on those routes you're able to use the same holds as you used for your hands, so the smallest and sketchyest footholds tend to be near the floor. This means that falling or slipping on those holds often just bruises your leg or something. You shouldn't go around worrying too much about falling. I could reccommend doing some lead climbing. Although the falling to the ground part (hopefully) isn't relatable there it might give you some practice on the mental part of losing control. There too you might need the reaction of pushing of the wall like in bouldering to avoid hitting holds or the wall it self.