It was once pointed out to me by a public speaking coach that "the audience wants you to succeed." It's so easy to let nerves kick in and become terrified that if you make even the slightest mistake you will be booed off stage. It can feel like an adversarial relationship between you and the audience.

The reality is that in almost all cases people in the audience are there voluntarily because they want to hear what you have to say. They want you to succeed so that they can have an enjoyable experience listening to you.

I have also realized that this is true at times when I am in the audience for a speaker who is really nervous. In some small way it feels like I am part of the speech. I think most people have been in this situation and sort of cringed when a mistake happens, because you don't want to see the person on stage hurting, you want to see them do great.