The way to get offer a fear is to face it and conquer it. The first thing you need to do is to sign up for driving lessons at a professional school where the instructor has a duo foot break and sometimes even a duo steering wheel.
Once you start your lessons you will realize that the fear comes from the unknown and that you will be more comfortable behind the wheel than in the passenger seat. Driving is freedom. It is a huge accomplishment and gives you the freedom to go as you please and to be the one who does the chessed.