Anxiety while driving

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So despite being a fully fledged adult I do not have a drivers license. Mostly I haven't needed it and when I have, I haven't been able to afford the lessons. Now I can and am taking driving lessons. I've already ****** my theory with flying colours.

Problem is, while driving with my instructor, I spend most of the lesson on the verge of shitting myself. I sweat so bad it's not even funny. I've always been afraid of driving and now I'm ******* myself to, 3 times a week. It's strange because every other fear I've ever had I've overcome. The thing holding me back is, while driving I am extremely anxious which makes it hard for me to focus on the driving which in turn means I make mistakes which keeps me anxious...

Is there anything one can take which will enable them to calm down while doing scary things yet stay alert and receptive? I figure if I could break the cycle of fear I'd be able to learn to drive a lot faster and ultimately get over my fear of driving.
 

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