I used to have a terribly difficult time driving and was all but housebound. It began when I was 18 and lasted until I was about 26 (stole a lot of good years). The techniques in the program at:
were what helped get past not only my fear of driving, but all my anxiety and panic attack problems. I haven't had a panic attack in 8 years and am off all my meds for just as long.
I tell everyone I can about the program because I think it's wonderful. I've also heard a lot of good things about it from other boards. It's pretty reasonable and they offer really good personal support along with it.
Hope it helps some folks out, I'll try to dig up my old books I used to use when I had anxiety and post those that were good.