Anxiety

I’m 19 & I have very bad anxiety. I even left high school very early because I couldn’t handle being around all of the people. I was very shy and felt like I didn’t fit in at all. I feel like a lot of it has to do with not being raised very well. I didn’t have great parents and was never raised to be outgoing and not feel embarrassed/shy over the simplest things. It was always my dream to be a cheerleader but I was just too shy and not confident. I was always worried about what people thought about me. Forward to now, I’m a mother of a 2 year old. My anxiety has went out of the roof. I sweat very badly in the car and I don’t even drive on my own because I have such bad anxiety. I feel physical pain in my chest when I start getting so nervous and my hands sweat very bad. I want to be independent and be able to drive on my own and go into stores on my own but I feel like I just can’t. In my mind I want to be this normal independent person but when I try I get such bad anxiety. What can I do about this? I can’t just talk myself out of it. Is there something I can go to the DR for like to get medicine or what can I do? I don’t even know where to start to get help. Please let me know girls. I need to change my life...