get over my fear of driving

I am 30 y/o my sister and I bought a car together last July and I promised that I would have my license by my 30th b-day. Well that was almost a year ago and I haven’t gotten it yet. I have driven the car but mostly I let my friend drive me wherever I want to go because I get so overwhelmed when I get behind the wheel while in traffic. The first time I drove I was in the suburbs and I drove around the whole neighborhood I was scared but my friend made me do it and I was glad. But when it comes to driving in the city I panic no matter how confident I get before getting behind the wheel when I do I panic. I need help because I want to drive I hate having to get rides with people and be on their time table.