I used to, a lot, and I have noticed the fear creeping back up on me again - so still trying to contend with it.
There is a breathing technique I find helps: Simply breathe deeply in for a count of four, hold for four, breath out for a count of four, hold out for four, repeat. I believe the science is that this helps to regulate your heartbeat which starts to fluctuate wildly in states of panic. As the heartbeat calms down it brings the rest of the fear response in the body and brain into line. Although, I'm not a doctor, so don't quote me on this. Just something I found helped make the fear something smaller and containable.
Even when not in panic I found it a good practice just to build up a baseline against the fear. Waiting for a bus, standing in line at the supermarket, I just breathe through this pattern whenever I remember. No one has to notice you're doing it.
Try to remember that the fear is something that is happening to you, not who you are. Try to see the fear from outside rather than inside.
I hope this might help in someway. Also, advice to self.
Be brave, because the only time you can be brave is when you're afraid.