It's okay to have a fear of heights. Many people do. You may or may not be able to overcome the fear of heights but you can at least try.
Start by climbing small ladders and keep working your way up it a little at a time.
You don't have to go fast at this. Going slow and steady and you might be able to overcome the fear.
It could take years even to overcome the fear of heights if you do overcome your fear of heights which I hope you do.
Best of luck to you.