So much social anxiety

I am about to start trying to workout again. My dad has heart problems, and I am so afraid of falling in the same mistakes.

My biggest problem in the past is making myself go in. I get so much anxiety when people are there, I will panic and just drive away.

Even when I have went at like 3 am, if one other person is there, I panic. Honestly, its worse if its just one person, because they're all I focus on.

Did anyone have the same problem, and have some tips how they overcame it?