I’m scared to learn how to drive. Any advice to encourage me? ?

Take a look around at the thousands, hundreds of thousands, etc. who drive.  Like the Wizard of Oz said, paraphrasing, they have no better ability than you.  There are so many other things you had anxiety about , and will in the future.  Looking back, probably fair to say that the things which previously caused you anguish are now but history.

The MORE you can DRIVE the MORE confidence you will have! It is ONLY TEMPORARY for most young or new DRIVERS! LONG TRIPS are a GOOD place to get experience and RELAX behind the wheel! You have HURDLES just now, but VERY SOON you will learn to have the FREEDOM of the ROAD and get used to traffic! You should look for a $500 CLUNKEr to get on the road with! THEN you wil NOT feel really BADLY if you get KNICKED about a few times! >>MODERN CARS with REAL ABS systems ca keep you out of TROUBLE1 

if you can pay for driving lessons go for it, but if not, consider practice driving on an empty lot. Once you feel you can manage braking and driving  in your car, consider driving on country roads. Then, consider going on a less congested road so you can gain more driving experience. 

Driving on the expressway is a totally different feel because of the speed others are driving at and could escalate your stress level..  

I would suggest trying to find a driver training course so you can go learn safely without having your parents riding you the whole time.

Unless you had a learners permit, they had no business having you out on a public road in the first place.

Some people may be good at doing something but not good at teaching it to someone else, and it sounds like your parents are like that. I suggest paying for professional driving instruction. Yes, it costs money, but it's worth it. I credit the professional instruction I had almost 50 years ago with the fact that I have never had an accident. That has saved me a lot of money in insurance and car repairs in all that time.

Take driving lessons from a car ed company. I know many young adults who can't learn from parents. Many parents don't have the time, skills or patience to teach their kids how to drive. Look forward to being independent and driving when you want or need to go somewhere. Driving is easy once you have more experience behind the wheel.

Depends on where you are.  In California, you can get a motorcycle permit with no car license needed.  You ride solo, no parents yelling.  You have no blind spots.  You can see whole vehicle, no worry about bumping fenders.  You can easily park just about anywhere.  Insurance is a LOT cheaper.  Gas is cheaper.  If you are a klutz you can get a twist-n-go motor scooter, easier than riding a pedal bicycle.

Save up and get a professional instructor.  He/she will be adept at dealing with nervous pupils, will know the latest rules, requirements and techniques and will plan your lessons according to your progress.

It's never a good ideas to rely on family, that can bring various issues into the car with you, and they are not trained instructors.  Furthermore, while your parents may be good drivers they have probably developed bad habits over the years which you could do without picking up.

My son will be the same way.  He never watches me drive or watches the road because hes constantly on his phone.  Thats how I learned to drive.  By observing the road and learning by watching my parents drive.  Don't worry about crashing your parents car.  Just don't hit nobody and pay attention to the road.  Why didn't you take drivers ed?  Driving isn't hard.  I love driving.  And fun.  Sorry don't know if that was encouraging or not.  Go to a go cart track and drive a cart around the course a few times.  

I'm sure it didn't help when your parents handled it so badly.  Yelling at you was the wrong thing to do.  Give it another chance and if they yell again, calmly tell them that yelling at you is not going to make you a better driver.  It will make you a nervous driver and you are nervous enough - don't you think?