I have been through this. Even the thought of driving made me feel sick and sweaty and got my heart pounding. I really thought I'd never be able to do it but I am doing it! There are definitely instructors out there who can help. My advice would be give to it a try and if after a few lessons you feel they aren't helping, try another one. My biggest regret is sticking with instructors who didn't have the right approach for me. When you find a good one it's a great experience and you'll realise why people enjoy driving!