After you find out that nothing's broken, get back up and get right back on that horse. I won't lie to you and tell you that it doesn't hurt, because it does. However, it isn't anything that is unbearable or something to be feared. It's kind of like getting a papercut. Right when it happens you are like "Yeouch, that HURT!!" Then the initial stun wears off and after that it's more of an annoyance than anything.
Also, don't feel ashamed or embarrassed if/when you fall. It happens to everyone, even the best of riders come off sometimes. Just laugh it off and keep going.