Felicia,
I can remember the time I stepped outside my own back door. It was dark and out of sight of any neighbours yet even taking a few tentative steps away from the door and just to stand there had my stomach in knots.
That was probably pushing 30 years ago. All I can say is don't over think it. As the title of the thread says, it's in the head. Overcome those voices in your head, take baby steps, that first drive dressed seems to be the most common one, and let it develop from there.
No-one here would be telling others it's ok to get out there if the reality was it was dangerous to do so. Just apply common sense.