How to move on from rape and abuse

I've been in a healthy relationship with my boyfriend for a year now. This is a major accomplishment since before him I was raped and physically/emotionally abused by my ex. He also stalked me and nearly killed me. It's taken a long time for me to move on. But my emotions/ anxiety and depression have almost broken my new healthy relationship. Now, I still feel like trash. Like my boyfriend can find someone better. I've told him this and he has reassured me multiple times he wants to help me and he loves me for me. But he and my family all agree I need to get help in regards to counseling, medication, or something. Please comment on ways I can help myself. I'm afraid medication will make me more numb,  I'm too embarrassed/ashamed to talk to anyone about my past, but I know I need professional help. I don't want to lose my boyfriend because of the ghost of my past. 

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