Panic disorder and pregnancy

I was diagnosed with panic disorder as a teenager and I was on medication but decided to get off of it during pregnancy, my midwife is aware and just told me I have to find ways to cope that are healthy! Any moms struggling with anxiety and any suggestions on how to keep it at bay? I know I struggle a lot to with constantly being worried about my unborn son and just nervous something will go wrong. But I’ve heard that sorry doesn’t go away if when our children are older lol. Thanks in advance, I’m open to any opinions!