A couple things that might help?

I was in a theatre class once, and the prof was talking about stage fright. "If you look at the fright," he said, "you will find there are two parts to it. One is EXCITEMENT over what you are about to do."

The other thing that works for me is to imagine I get chatting with someone in a grocery store lineup or something, someone I don't know. In your case, they might ask, "Do you drive?"

What would your automatic answer be? "YES."

So there - you are a driver! Go for it!

Candace