Well, it does seem intimidating to begin anything new, but with driving, it is a very freeing feeling. I always found I was having dreams of driving when I was very small, and also dreams of being able to fly; I associated the two together.
Driving becomes very easy like riding a bike after a few times out. I have taught a few people to drive, and they were very comfortable with learning from me, so it would really help if you could find someone very laid back who could teach you. Best of luck with it, it is actually a very nice thing to do when you get the hang of it