The basis of neurosis, or even physical discomfort and pain, is mind and body not joining together. Sometimes the mind is miles away and the body is there. Or the body is miles away and the mind is there. The main point of meditation practice is learning to be a proper human being, which is known as being a warrior. When mind and body are joined together in your practice, then you are joining heaven and earth, and you can be a genuine warrior. This quality of harmony will bring fearlessness.
From "Joining Heaven and Earth," page 76, in Smile at Fear: Awakening the True Heart of Bravery.