No desire because I like keeping my feet on the ground, never been a fan of heights much. I guess in its most basic form, yes, I would be scared to do it.
I wanted to do it just to prove to myself that I could. It took me a while to work up to doing it, same with motorcycling really. Part of it is the perception you have is the common perception, or your personal worst imaginings, not reality.
When I did my jump the training was in the morning and the jump was in the afternoon. We were using Army surplus gear round 'chutes and you had to learn how to fall. In the training I could not do that right, although it seemed to me I was doing exactly what he said. Hang by your hands from a chin-up bar and then let go and collapse a certain way. The instrunctor said I can't let you jump if you can't do it better than that! Finally I guess I did it well enough although I couldn't tell any difference!
There were a lot of ppl in the class that day and it was going to take a while to jump us all in the afternoon, so I said I would come back some other day and do the jump. He said ok, you won't have to do the training then, or maybe just a refresher, but you won't have to pay.
So - there was a well-stocked army surplus store in town with a T-10 parachute manual, the T-10 is what we used, and I bought it and studied the landing fall part of that for several weeks! Fold your arms in front with your elbows together, point your toes down, put your feet together, have your knees bent slightly. And then when your toes touch ground let your feel flatten, then let the knees collapse then roll onto your hip then roll up the side of your back. All to take the shock out of the landing with that pretty primitive but relatively foolproof 'chute.
Several times a day for the next few weeks I jumped off of picnic tables, porches, anything available to practice the landing fall. After I was confident I knew how to do it better than anybody I went and did the jump. It was a perfect landing fall and I got complimented on it by the instructor. I didn't mention that I had gone to the book and studied the whole concept for hours
So I had kind of the same approach to motorcycling. Learn everything there is to learn or everything you can and when you're convinced you can pull it off do it then. You have a lot more confidence and ability at that point. Justifiable confidence.
But I can tell you there's no sensation of height, same as if you were still in the plane. I thought I would be paralyzed some extreme version of being on top of the Empire State Bldg., but it's like still being in the plane. Even when you swing under the canopy it's the horizon tilting and it feels like a plane doing a roll.