In Section 14, lines 674-685 Beowulf says,
"....I feel no shame, with shield and sword and armor, against this monster: when he comes to me I mean to stand, not to run from his shooting flames, stand till fate decides which one of us wins. My heart is firm, my hands calm: I need no hot words. Wait for me close by, my friends. We shall see, soon, who will survive this bloody battle, stand when the fighting is done. No one else could do what I mean to, here, no man but me could hope to defeat this monster. No one could try..."
Now, this passage pretty much explains Beowulf's courage without an interpretation, but for the sake of argument I will interpret it for you. Beowulf is saying that he has no fear in fighting this monster, because he means to stand and not run. He says that his heart is firm and his hands are calm, meaning again that he is not scared because he isn't shaking. Now for a man not to be scared even though his is about to meet his demise, that takes a lot of courage.
In Section 15, lines 771-790 Wiglaf says,
"....He meant to kill this monster himself, our mighty king, fight this battle alone and unaided, as in the days when his strength and daring dazzled men's eyes. But those days are over and gone and our lord must lean on younger arms. And we must go to him, while angry flames burn at his flesh, help our glorious king!... [continues]
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