I was scared to death. High anxiety over driving. I would say it took me awhile, but I did, eventually, get over it. I agree having a good instructor you work well with helps. I didn't work as well with my first instructor as I did with my second. Being able to practice between lessons with someone calm and a good teacher also helps. The more you drive, the more this feeling goes away. Or at least it did for me. Don't be afraid to take extra lessons beyond the 'usual' supplied with the course, if need be.