Embarrassing confession ..

Please no insults of any kind- I am 30 years old and have never drove a car before. I have Always had a phobia of driving.. my anxiety is bad I have two kids and some how have always found a way to get to where I need to be.. but this phobia is taking a toll on me. I haven’t been able to focus the past few days on anything but learning to drive.. I know driving is an important skill to learn, but I’m terrified. I have studied the drivers hand book, and have taken practice tests and have passed.. but reality won’t kick in until I have passed the computer test and get my learners permit and start driving until I can feel confident enough to get my license.. I guess I just need some words of encouragement and to hear similar stories..