Hi Tina and welcome
I get severe anxiety and agoraphobia as well but it has lessened over the years (with a lot of help). I actually just went out to the shops after a morning of feeling pretty terrible, and it wasn't bad at all. I guess my number one strategy is "just do it" no matter how much I don't feel like it. When I set off (driving) I often feel dissociated and strange, but I've learnt to ignore it and just trust in my ability to drive. It nearly always fades after a while and I feel "normal".
I do take medication but I find behavioural strategies are way more helpful. I also tell myself that everybody is so busy worrying about their own stuff that they probably don't take any notice of me (because I get really self-conscious in public). If I feel panicky and overwhelmed I sometimes find a place to sit and just watch people, to prove to myself nobody is paying me any attention.
I hope that helps a bit and you find some support here.
Gypsy x