Should I seek counseling

So i had a panic attack while riding with my bf. It was so bad I had him an ambulance and they took me to the hospital. Literally before the ambulance came I was shaking and feeling all numb throughout my body. It was the scariest thing ever. The people in the ambulance assured me I wasn’t dying. I was so worked about my uti and it going into my kidneys and blood.

They checked everything and told me to continue the meds I am currently taking. They also gave me instructions for dealing with a panic attack.

Should I see a counselor? I had no idea that I get them this bad.