Advice for someone terrified of driving

I'm 21 and only just now learning how to drive. I tried back when I was 16 and it just ended in tears and panic attacks. I thought if I waited that I would eventually get over it, but that never happened. If anything I've only become more terrified of driving. Just sitting in the seat with the car off is enough to start the panic. I don't live in a city so I pretty much have to learn if I ever want to go somewhere and stop bumming rides off of my friends. I know it's a stupid fear but I can't help myself. You all seem to have your shit together so any advice you could throw my way would be super awesome. Thanks!