I used to have both a fear of heights and of speed. Seeing someone may help, but don't try to force yourself to do things that trigger that panic feeling. It will make your problem worse and increase your chances of getting into trouble since your response mechanisms get messed up when your head isn't level.
In my case, gradually working my way up and not trying to force things proved effective -- the process took years. No one would ever guess I had those fears -- bombing down hills and ski mountaineering are among my favorite things to do.
When I tried to force myself to confront things I rationally knew were fine but wasn't prepared for, I found it made the problem worse.