Cathy Rigby reprises her famous stage role as the title character in “Peter Pan.”

Cathy Rigby is a two-time Olympian and a Tony Award nominee. But ask the former gymnast what frightens her the most and she’ll answer without missing a beat. “The thought of my 16-year-old daughter driving . . . alone,” Rigby said in a phone interview from Los Angeles. “I’ve been through it before, but you never really get used to it.”