Have you ever looked into EFT?
There are lots of books on Amazon.com on it. It stands for Emotional Freedom Technique, also known as tapping.
It is extremely quick, and can be done at the moment fears or anxiety pop up.
In a nutshell, you feel the fear or anxiety as deeply as you can, while tapping on certain meridian points. You will quickly find the points that work for you. You keep tapping while feeling as strongly as you can, and before you know it, it dissipates.
You don't even need a book, there are youtube videos on it. Just search EFT. I kid you not, it is extremely easy. I've been using it for probably 25 years, and it has saved my bacon many times.