Being "hesitant to" do something means that you wait because you're not sure whether you want to do it or not. It's similar to being nervous, but "hesitant" also includes the idea of waiting before you decide.
Here are a few other examples of being hesitant to do something:
I think it'll probably be OK. I'd be hesitant to say that for sure, though.
Parents are usually a little hesitant to leave their kids at home alone at that age.