In Aikido, the first step is always harmony - harmony with yourself then harmony with your partner. Calmness is the Aikidoist's greatest asset. If we don't have the stillness that comes as a result of our inner harmony, we are not doing Aikido. Turbulence, anxiety, worry, or anger are signs of internal chaos. Those who cannot be calm will be defeat by the person who can and that is why the first step in Aikido is harmony.
How does one find inner peace? Training. It takes a lot of training.