TLDR: How can I stop being so anxious and overwhelmed while driving? 

Hey guys. I’m 19 years old and really want to get my license soon (I have learners license already but got it about 2-3 years ago, so haven’t driven in a while). 

I’ve been putting this off for so long, because even just the thought of driving makes me feel extremely anxious for so many reasons. First, I can’t stop thinking how one wrong move and I can really harm myself or other people. And also, the embarrassment that I would feel from making a mistake makes me feel anxious as well. When I was practicing driving with my mom, I was constantly anxious that maybe I’m going too slow, too fast, too wrong. Someone honked at me and it made me feel so bad I didn’t want to continue at all. 

I have really bad anxiety in this aspect, and for some reason am always afraid of being too slow or annoying the people that are driving behind me. I also have ADHD (inattentive), I take medication for it but I think sometimes this makes me even more anxious. 

I need to start practicing driving again so I can finally get my license, so please give me some advice on how to get over some of this anxiety, or at least make it less. Thank you so much.