I can’t drive....advice please

I’m 25 years old and I can’t drive, well, I know how to drive but I can’t bring myself to do it. I suffer from anxiety and after getting in an accident a while back I let go of driving all together and haven’t done it since. This is making my life so difficult because I am a mom of 3 and I can’t drive them anywhere. How can I get over my fear of driving? How can I control my driving anxiety? I have been thinking about anxiety meds, but I’m afraid to become dependent on them.