I'm scared to drive!

Okay so I'm 21 and I'm scared to drive. I know pathetic.. I'm scared that I won't be a good driver and I'm so freaking scared of other people also. Ill drive every once in awhile but it'll be really late at night when no ones out. Blah! I hate this fear and I want to get over it! Are any of you scared to drive? Why? Have you got over your fear? And how did you do it?