I know how you feel OP. I used to be terrified of driving to the point where my entire body would be tense the entire time I drove. I'd freak out whenever I saw a truck on the opposite side of the road. And I wouldn't even think of driving in the city!

But after driving for over a year, it became second nature to me. Now I drive to university every day and I barely even need to think about it anymore. You'll get over your fear soon enough. Driving's a pretty scary thing, but once you do it often, it becomes as easy as riding a bike.