Your choices here are clear, to quote Andy Duphresne from "The Shawshank Redemption":
Get busy living or get busy dying.
If uncontrollable fear rules your life, it is wise to seek out serious professional counseling. Your situation is not beyond help. But if you do nothing, nothing is what you'll have.
Which is more frightening to you, overcoming the mild challenges that each of us face daily, or having wasted precious years cowering from imagined perils?
"The journey of a thousand miles begins beneath one's feet". -Lao Tzu