If you want to get over the fear of eating it on a handrail just pretty much except that you are going to get hurt. Once you achieve that thought take a few deeps breathes and think all your actions through your head. Handrails are a mental thing honestly. Then just commit to the rail 100%
The best thing that worked for me was just getting use to the fact that I will have a few bad bails with rails and that I will get hurt. Once I got use to that fact rails became much easier. Remember though, 100% COMMITMENT