Fear is useless; what is needed is trust.

"But when he saw how [strong] the wind was he became frightened; and, beginning to sink, he cried out, “Lord, save me!”
Immediately Jesus stretched out his hand and caught him, and said to him, “O you of little faith, why did you doubt?"  (Matthew 14: 30 - 31)

How can we escape fear, worry and doubt?

When Peter saw how strong the wind was, he became frightened.  Fear entered through his eyes.  Fear, worry and doubt enter into us through our physical senses.  The first order of business in combating fear, worry and doubt is to control our senses. The best defense in this case is offense. Make a habit of feeding your mind with God's word.  Learn to pray constantly.  An army who waits until the enemy is at the city gate to start ordering the weapon needed to defend the city has already lost the war.

One lesson I loaned as a boy scout will serve me well if I remember it always is:  Be Prepared.
How can we escape fear,worry or doubt?  Bring the fear, worry or doubt to Jesus in prayer.  Remember His promises in scripture. Remember instances in your life when Christ has saved you in crisis.  Trust Him completely and cry out desperately to Him to save you. He will. After Jesus has saved you, write down the experience in your journal.  If you don't, you may forget it.