These words are very different.
To hesitate is a physical thing. It means�not to do something yet, to wait before doing�something.
John always hesitates to raise his hand�in class until he sees others doing so. Jane, on the other hand, shoots her hand up as soon as the question is asked.
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To doubt is a mental thing. It means�not to believe that something is true.
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I doubt that I will score 100% on tomorrow �s test.
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Doubting can be the reason for hesitating:
I hesitate to answer this question, because I doubt that I will get it right.
I hope this helps you.
Bruce�