Facing your fear as you have is a great start. When you are out, confirm that you may be uncomfortable but not in any danger. Recognize that your fears may at the very least be overstated if not unfounded. When your adventure is over, reward yourself for your success. Doing something so difficult is not an affirmation of can't but of CAN!

Take little steps to gain confidence. Each time confirm that you are not in any danger. Remember to breath. Sometimes you really have to fight for what you want. You are a warrior. You can do this. Good luck!