I have so much anxiety I have been suffering of panic attacks when I drive. It landed me in the E.R once already because I couldnt even walk or talk. I know being depressed and anxious sucks, but you just have to be strong and go through the feelings. A big help for me was getting involved more in church and and trying to stay busy doing relaxing things. It is a long process, but you will get better with time. Whenever you feel anxious just remind yourself that it is just a feeling and it will go away soon.
I wouldnt go on medication and my doctor recommended against it because the type of medications to treat anxiety and depression are addictive and can harm you more in the long run, but that is your choice to make.