I’ve been a nervous driver ever since I had two car crashes. I also get nervous driving somewhere new and worry about what if I can’t park anywhere. Now I have a baby (4 months old), I want to be able to take her out in the car just myself and her but I’m so nervous about all the things I’ve just spoken about.. also it’s even more stress because I have to pack stuff (buggy, bag, milk) etc. is anyone the same as me? How did you get over this? It’s making me feel crappy
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Get yourself refresher lessons with a driving instructor to build your confidence. Hopefully you shouldn’t need more than 5. Invest in yourself now so you can work out what it is that’s making you so anxious and your instructor can also assess if your panic is causing you to make silly mistakes/correct them.

Take some refresher lessons!

I’m the same with a 6 month old, and we don’t really go anywhere unless with my husband. As above I actually did take some lessons, and my instructor suggested we practice in my car which is super helpful and I plan to do a few times with a baby as well to hopefully get over my anxiety

I don't have advice about the driving aspect unfortunately.
I can recommend a baby mirror so you can see them while you're driving and they're rear facing... you can buy them from Amazon for less than £10.
Also for the bag the biggest advice I can give you is:
Ensure you have it packed once then do not unpack it fully each time. When you return to the house remove the stuff you have used and restock when you come back so the only thing you then need to add before you go out again is the milk and possibly a dody. It's a game changer as it then doesn't feel like too big a task. Xx

All the above are great suggestions but for when you do get back behind the wheel. Plan a place not too far from your home that you have been to many time, and you know the parking situation and a stress free place as any. For example a park or nature reserve etc. Then build up slowly from there x

Definitely take some refresher classes if you can, it will give you that small confidence boost.
At first plan to go places you’re comfortable with or drive to these places with someone else first so then you know the area. I also like to check on Google maps where I could potentially park if I have to go somewhere new.
I also try and pack everything the night before if I know we’re going out the next day. Have a little list of things that you need to add to the bag the day off so you know you won’t forget.
Basically do as much prep work as you can.

Maybe do a dry run without ur baby so u know where ur going if there is parking etc. that can help alleviate some of those stressors. Second pre packing ur diaper bag and driving lessons.