social anxiety? panic attacks? what to do?

For the last 14 years or so I've suffered from what I thought was social anxiety. But just recently did I realize it goes much deeper than that it's just the social aspect is the most noticeable. I stumble through my wording around anyone important and everybody else I dont's spend daily time with. Nightly I toss and turn for hours, usually prolonged by misc. noises I just have to go check on. Usually twice or three times a night I get up to check my 2 children after what I hear as unusual noises. After dark I can't go outside without worrying about criminals and/or wild animals dependent on location. I have no friends and when I feel the need to get out of the house my anxiety ends up making it regrettable. I've had plenty of panic attacks ranging from just a mild overactive mind to a overwhelming almost drugged state. I've called the doctor before but didn't realize the extent of my problems and was basically given the "If it hurts when you do that, don't do that" speech. Since then I've been too embarrassed I tell anyone in the medical field. Feeling I'd be labeled; which is what I fear the most around people. I'm not sure what to do, I'm not getting any younger and it appears to make me more and more depressed as time lingers.