I finally learned to ride a bike when I was 11. I remember the day my parents took off the training wheels when I was 5, yet for 6 more years I could not ride my bike. I would sit on my bike and instead of peddling I would push myself along with my feet, kind of like walking. Eventually I learned how to balance, and learning that has helped me with my balance in other things. I was never terrified, that is another story that I don't have experience with. Maybe try to practice in areas with soft laning as opposed to streets?
I learned to drive just fine, but I prefer to not drive. I have difficulties gauging how far away someone really is, so this makes me more cautious. On the plus side of that, I have only received 1 citation which I can dismiss with drivers safety.
I take the bus a lot of the time. I have a different schedule than most students, so I hardly ever have to ride a crowded bus, which can be difficult but do-able.