I was also too anxious to drive - when I was learning at 16, my mother started screaming at me from the passenger seat. I got the brake and gas mixed up and bumped into a tree stump (no damage). That was the last time I tried driving until I was 24 and had to get a license or lose my job.

Get a very calm, supportive friend to teach you. Find an empty parking lot to practice in and stay there until you are comfortable. Find roads that get no traffic. I did a lot of driving in cemeteries. It will get better each time you get out there!