Best way to deal with dental phobia?

I have a MAJOR fear of the dentist. The very thought of having to go in for a check up sends me into hysterics (tears and all) Past traumatic experiences started all this. My dentist had accidentally numbed my lips causing me to drool all over myself, and he threw a new bib at me, called me disgusting, and told me to clean myself up. Not only that, he had a dog running around the office!! I was able to switch dentists, but my new one is almost as bad with the yelling. Due to my insurance, I have no other options than these two. I know I need some pretty heavy work done, but I can't bring myself to go in and get it done. Is there any way I can make this easier on myself?😥