I have very intense driving anxiety especially when there is even a tiny bit of traffic. I begin to freeze up, my hands go numb, and I feel almost ready to have a panic attack. After being pressured by my family for years they finally get it and drive me places, but I still occasionally have to drive the car myself.

The best thing I found to start out was driving out in the country where there are no cars. Get really comfortable with driving when nobody's around. When you feel ready, begin driving a simple route with other cars. Not too busy, but enough that you it makes you a tiny bit anxious because you need to learn how to deal with it.

For me, this was my drive to work. The first couple weeks I came home from work nearly in tears. I screamed at my mom a lot that I couldn't do it and I was going to quit. Somehow every morning I managed to work up the courage to drive again though. After a few months I was so familiar with the route I could have done it with my eyes closed and, although the drive still stressed me out a bit, I was able to do it every day.

I still can't drive to new places/routes but at least I don't have to rely on my family just to get to work every day. Hope this helped you a little bit. Feel free to PM me if you need to ask anything.