Aaawww! Bet there is a quick-fix for that: when you go out, take drinking water with you, plus some sort of candy/mints that contain sugar. Water will keep you hydrated, and it's easy to get a refill of water almost anywhere for free. The candy is for if you haven't eaten for awhile, your blood sugar can drop and make you feel faint - the candy will stop that. :)
Meditation and making yourself believe that you are ok. Medications work while you are trying to deal with the root cause of the anxiety.
Sounds like you have anxiety. When you felt lightheaded the first time were you driving?