hesitate in sth.（或doing sth.动名词）
Don't hesitate in doing what you think is right.
只要认为对,就别犹豫去做.
hesitate to do 跟动词不定式
Don't hesitate to enlist the aid of friends or family if you have a big project to finish in your domestic environment.
如果在你的家庭环境里你有一个大项目要完成,不要犹豫向家人或者朋友寻求帮助.