You say you've practiced a bit, it was with a driving instructor right ? Because else said practice was illegal.
No it's not. You do not require a driver's licence to drive on a parking lot, and in most countries, any person who's had his driver's licence for a certain time can be a driving instructor.
As for fear of driving, I think everyone's had it at one point or another, but you need to keep this in mind: many people on the road are absolute MORONS, and most of them have gotten their driver's licence and driven for years without an accident. You're not a moron, so if they can do it, so can you. I was a bit apprehensive about driving as well (I think everyone with half a brain was when starting out), but I loved driving once I had some practice, and you'll be the same. Trust me, it's not difficult, you just need to get used to it.
I keep having thoughts like "What if I don't turn the wheel far enough for a corner while there's an oncoming vehicle in the other lane?", "What if I don't break at the right time at an intersection and either go into it or rear-end somebody?", "What if I focus too much attention on my speed and fail to notice other traffic and stop signs?".
Then you hit another car, you both get out of the car and fill out your insurance papers. It's not the end of the world. Really, it isn't. What you
should be worried about is hitting a pedestrian or a cyclist, or having an accident when you're driving fast. So in order to do that, always focus on vulnerable road users (watch out for those motorcycles!), and don't drive recklessly or ignore the speed limit. Drive carefully but confidently, and don't get your chain yanked by hasty bastards behind you who flash their lights or honk their horn to pressure you into going over the speed limit.
My driving instructor always said, "The entirety of traffic regulations can be summed up by two things you may never do: don't put anyone in danger and don't needlessly hinder anyone." And he's right. So drive confidently, dare to drive as fast as the speed limit allows, unless you consider it too dangerous, and always keep your eyes open. 90% of all traffic accidents are caused by one or more drivers being distracted, so just keep your mind on what you're doing and you'll be perfectly fine.
In fact, a driver is at his most vulnerable not when he's learning and starting out, but at the moment when he feels he's a good driver and starts thinking he'll never get into an accident. It's that phase which is dangerous, because usually, he's not, or not yet.