When I first got my license I was afraid.. I said a perek of tehillim everytime I got into the car. It helps alot. I also only drove with ppl who were supportive and helped calm me down-as in not with my parents. (AAAAAAAAA, BRAAAAKE!!! Ma, I AM braking!!) Take it very slow and dont force yourself to get over it. As ur confidence builds, the fear just slips away. You want to build that confidence by getting excellent in one area, and then trying out the next thing (highways, new routes…) Good luck! Im already driving like a new yorker! (OK, not really but almost..)
