Well, try to think which thing you'll be happier doing in the long run. There's no point staying at uni if you're only doing it out of guilt or obligation, but conversely there's no point dropping out if you're just getting a bit stressed about things. I know it's hard, but to be afraid of feeling like a failure is basically a trap in your own mind - you will only feel like a failure if that's what you've decided you are. There's no shame in trying something and finding it isn't for you.
Both my Dad and my uncle dropped out of university after a few terms and went to work instead, and both are now fairly successful, I don't think either of them regret it.
On the other hand, I seriously considered dropping out in the summer when exam stress was getting to me, but am now glad that I didn't, despite my mother's assurances that nobody would think any less of me.