Be Bold. That's one tip Robert wished he knew when he began speaking in front of audiences. Messing up happens because we're all human, he suggests you turn it into a joke and keep moving on.
He uses himself and his own history to find the stories that will relate to the audience. Listen as he explains how he breaks out a story to vary what's needed. People connect at the heart level, so what you use depends on your audience.
On speaking for free: when you're beginning as a speaker, you have a passion for the audience, or if your career is shifting from one space to another, speaking for free is an option. However, if you have a long history in a niche, with much to share with audiences, then perhaps speaking for a fee is a better choice.
The biggest tip Robert says is not a secret: it's to practice. And surround yourself with people who are smarter than you.