Same Inso. Have suffered with anxiety for about 10 years now (since I went to Amsterdam and got greedy with the space cakes and had a mad freak out / panic attack), there were times when I couldn't barely leave the house without having a panic attack but my doctor wasn't willing to help and I didn't really want to resort to being reliant on benzos or anything else so I just forced myself out. Over the years it comes and goes and most of the time now I can see it for what it is and deal with it but still sometimes catches me out and I get close to a panic attack (not had one for many years but often get close on bad hangovers). Bizarrely the worst situation for me is getting a hair cut as years ago I had a panic attack out of nowhere after not having had one for years whilst sat in the barbers chair (sometimes about the cloak being tightly round my neck and the razor buzzing away in my ear I think) and ever since I get nervous going for one, I spend the whole time with my palms sweating and heart racing until it's over. It's stupid but I can't help it, just need to try and deal with it. Also suffer from social anxiety and have for as long as I can remember, to deal with that I forced myself to go to Australia about 5 years ago, alone, and do the whole backpacking thing so I had no choice but to be sociable (in hostels etc). It worked to a certain extent and I'm certainly better than I was but I still suffer from it and often think up all sorts of excuses not to go to social events (especially if there will be people there I don't know) until I realise I'm just being fucking daft and need to get on with it, usually my stupid fears turn out to have been unfounded. Like a few others have mentioned I often convince myself I can't do something or it's not for me without even trying.
I don't think I will ever fully get over my anxiety but you defo just need to push yourself and see what happens. More often that not turns out fine.