Something that impedes us from witnessing is worry about what people think. We must remember that what they think is always in flux. So, what they think today is not necessarily what they will think tomorrow and everyone can change their thinking. That's why God submitted the world to the gospel to change hearts. Don't worry about what they think!
You can change the way they think and give them something new to think about. Specifically, people with hard hearts need a hard word to break the heart and make them really think. We will have to sacrifice short term rejection, but in the long term, we might gain a friend for eternal life.
Have you ever stepped out in faith despite the possibility of rejection? How did it go?