Lunita, do you know if you have any bicycling trails in your area? I personally found riding trails to be a comfortable and safe way to gain the confidence necessary to just get out there and do it! Often you can find maps for them where you find info on public transportation options and routes. Google often works for finding trails too...

I can totally relate to what you're going through. I went through a more than 10 year hiatus from cycling because I didn't feel safe (physically and psychologically) riding on the roads. I started riding trails again with hubby and have graduated to riding on the roads with my local bike club and can now comfortably ride alone as well.