How to overcome fear of driving?

I got my drivers license a year ago but from then I barely drove. My instructor would always scream at me and make me feel stupid if I got anything wrong and now I'm just so afraid of driving, especially on my own. My parents want me to learn but I'm so scared that I'm going to hurt somebody. It got to the point where I feel a little scared even if I'm in the passenger seat and somebody else is driving. Do you have suggestions on how to get rid of this fear? I also have to say that in my city people don't exactly observe laws when driving so you need to be extra careful and I don't think I am capable of doing that. Please if you went through something similar what did you do?