overcome anxiety

Im confident within myself and at work but when Im around people my confidence goes out the window. When Im around people all I want to do is sit in a cournor quietly watching and listening with no one noticing me. I think thatz why I retreat to my room everytime Im not at work, cause Im by myself and my confidence is up.
For example, I have noticed it alot tonight because of where I am and who I am with, Im terrified about cooking for people cause of the critism that I got when I was little, Im not confident with driving with people cause of the critism that I alwayz get. I love cooking for myself because I dont get people staring at me and I know what Im doing where if Im cooking for people or helping people I just get uncertain with what Im doing, like Im afraid that Im doing something wrong and itz like my head is all mushy and all I want to do is get out of there. Also with driving Im confident when Im by myself but when Im with people my head goes all mushy and Im just afriad that Im doing something wrong… Thatz why I hate driving with people and hate cooking for and with people… It, I have relaised tonight, that itz a big problem for me cause itz affecting me and everyone around me.
Im going to make an appointment with the mental heatlh team at the hospital to hopefully see if they can help me cause I dont think that I can get out of it by myself…