Don't let those experiences from 4 years ago make you quit. Experiences aren't like that, each one is different. At times, even though you may be shaking and feel very nervous, you can do much better than expected; something takes over. I have experienced this personally. Driving frees you up to be independent and opens up your life. You are doing this for you, you deserve it. And don't think that this was easy for me. I've suffered from anxiety, fears and OCD ever since I was a child. Maybe starting off with some small accomplishments you'd like to do and succeeding would gradually get you to the point to try driving again. My heart goes out to you, I know exactly how you feel, not worthy, wishing you were like "other people" who seemingly accomplish goals so easily. There is no magic words though, eventually you just have to put yourself out there and try. I feel you've accomplished a lot by having children. As a young woman, I was afraid to have children because of my immaturity and lack of confidence. Now, of course I regret that decision. Don't give up, you definitely have what it takes.