Doing something brave is much like saying something stupid. You rarely plan on it happening.

Don’t do anything stupid."
"Don’t worry," I whispered over the line, "I’m an expert on stupid."
"You’re..."
"Like, I can spot stupidity, because I know it so well. The way an exterminator knows bugs really well, and can spot where they’ve been? I’m like that. A stupidinator."
"Never say that word again," Prof said.

You can plan to be brave - it's even better if you just try to be brave.

Attacking a provincial lord in his manor house, surrounded by guards...Honestly, Kell, I'd nearly forgotten how foolhardy you can be.

"Foolhardy?" Kelsier asked with a laugh. "that wasn't foolhardy - that was just a small diversion. You should see some of the things I'm planning to do!

Dockson stood for a moment then he laughed too. "By the Lord Ruler, it's good to have you back, kell! I'm afraid I've grown rather boring during the last few years"

"We'll fix that" Kelsier promised.

So you'll teach me?" Val asked.

Ravus nodded agin. "I will make you as terrible as you desire."

"I don't want to be - ," she started, but he held up his hand.

"I know you're very brave," he said.

"Or stupid."

"And stupid. Brave and Stupid." Ravus smiled, but then his smile sagged. "But nothing can stop you from being terrible once you've learned how.