Trying to face my biggest fear

DRIVING. How stupid is that? Driving is my biggest fear. The one thing in my life that I haven’t been able to push through the anxiety and overcome. I’m 23 years old and I have not once ever drove. I have a 2 year old and a 2 month old and its really time I stop depending on my SO and others to drive me. But as stupid as it may sound I am honestly petrified. The idea of driving alone starts to make me feel anxious. Sitting behind the wheel makes me feel panicky. i went and got my permit. It’s just a written test easy, my state if you’re over 18 you can just pay to take the written test. My SO knows how afraid I am and thinks it will be easier if he gets an actual driving instructor to teach me how to drive rather than him. I’m suppose to start driving lessons next week and I’m just so nervous.