I'm kind of the same way. I said kind of because I'm a little better now. I used to be terrified of going anywhere alone or staying home alone. I specifically had to have someone around all the time. Especially when my anxiety was really high. Its better now because I can go to school. What helped me was therapy and medication. But I also eventually had to take the first step. I practiced being alone while at home or maybe had my parents drop me off somewhere by myself for just a few minutes. Eventually minutes turn into hours and hours will turn into days. You'll have to take the first step and try being alone for a few. My old therapist used to say.. You have to do some things scared.