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I normally use my 70-200mm for street photos attached to my D3 and walk around quite openly. Even have people coming up asking me to take their photos, but I usually decline as it's not candid. Just be aware of people around you at all times, and if you feel unsafe put you camera away and walk off somewhere safe, even into a shop where other people are. I've walked all round Birmingham city centre without problems but I keep my eyes and ears open just in case. I never take pictures of children as it's too much hassle in todays world, but they may be included in a street scene or portrait of another person.
As Ben says, walk around with you camera around you neck where people can see it, as they know you will be taking photos. You might be surprised how many others you meet also with a camera out taking shots. You could get a friend to go with you the first few times to ease you into it, or even another photographer if you know one. You could also start off by taking photos of building in the town/city and build up to taking people shots. Good luck and remember to have fun, it's a hobby not a job.
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