My hope for you, zana0566, is to find a driving instructor that will take you to a large, empty parking lot so you can get behind the wheel for even a minute to start the process of desensitizing your fear. Get the rules of the road pamphlet from your state and learn it forwards and backwards. You might even consider asking friends to bring there vehicles to the lot so you can practice parallel parking, changing lanes and passing. You might even inquire at the police department or highway patrol to see if is someone would help you without charging.

You can do this but must find the gumption to start.