I want to drive and I need to learn so badly but my anxiety is so bad

I keep thinking I might crash the car or die or I might get arrested or I might get huge fines. I don’t know what’s wrong with me as I’ve never drove an car before but I can’t stop getting those thoughts. I do have ocd as well as bad anxiety so maybe that’s something to do with it. I wanted to learn at 16 but as soon as I turned 20 all my bad thoughts came and I can’t stop having bad dreams about what I just described. I need to learn how to drive because my work depends on it but I don’t know how to get over the fear and get lessons for it. My dad always puts me down saying it will take me ages to pass and he’s been saying that I since I were 16 and how it might not be for me so maybe he’s put those thoughts into my head , I don’t really know. Also , my parents always scared me when driving , I wasn’t ever in any car accidents when I was little but they did stuff in the car that terrified me like dangerous or irresponsible stuff. And even know my dad sometimes scares me when he’s driving because he’s up cars asses 😹 I don’t know what’s really caused all of this but I really want to overcome it and get my full drivers license.