Anxiety is taking over my life

So today on the way to my councillor, I had a major anxiety attack and had to pull over to the side of the freeway just to get myself under control. I thought I was going to pass out my heart was beating so fast and I felt light headed. well I didn't really have a choice but to continue driving to the appointment as i would have to pay if I didn't show up. so i got back on the freeway and made it to my appointment. I am just so sick of the anxiety, and it's gotten worse over the last few weeks. I don't know what to do and I feel helpless, like it's never going to get better. I'm so sick of always being afraid of nothing! I don't sleep well most nights and can't go a day without being afraid of something. and I'm trying to get better but it's hard when the only medicine that worked for me I can't take because I'm trying to get pregnant.