Face your fears! You've probably heard it a million times but I'm going to explain it again. The only way not to be afraid is to do exactly what your afraid of to reassure yourself that you will be okay. It may not work the first time and you may have to keep doing whatever your afraid of. That way you can look back on that event and say," I did it once before what's stopping me now."
Also you are letting your fear take over you it's controlling you because you are letting it. If don't feel ready to go out on your own grab a friend or a family member you trust and have them help you. They will be able to give you a push in the right direction.
You may be really nervous at first but you overcome your fears you'll feel great relief. Be sure to reward yourself with a treat after you've accomplish something you can also use that for your motivation. good luck