I have had two car crashes in the past 3 years, and each time I had a great fear of driving for several months. My previous car accident was in August, and I am barely getting past it. I think the main way to overcome this fear is to simply drive despite your fear, at least once a day. Start off slow, maybe just to the local grocery,strip mall, fast food join, etc, no more than 1-2 miles. Then you can increase your driving time and distance every week, build up your confidence day by day, until you finally get over your fear, at least enough to get by.
I have absolutely no reason to be afraid of driving but it stresses me out just thinking about it. I have to drive every day to work and I panic if I have to sit at a light for more than 5 seconds. I consistanly take back roads to avoid any traffic. I feel like a huge burden to my friends since they always have to drive me around. I thought I would get over it with time, but to no avail. I am glad I am not alone in this.