Have a go. Have some lessons and get your confidence back definitely.
I know you have passed but bear with me. I started learning to drive in 2006. I failed a test in 2007 and gave up for a few years. I failed again in 2010 and again, gave up for a few years. In the end I failed 4 times over 10 years, each time not driving again for about 2 years and telling myself I'll never drive. I finally passed in February.
Something just changed. I got an instructor who suited me and who didn't pander to my anxieties he just let me get on with it and we didn't really talk much other than the odd bit of banter and laughing at me haha. Other instructors would sort of try to psychoanalyse me and make it all worse in my mind, which was something I hadn't realised. I was so nervous every time I got into a car and even on the day of the test the examiner said afterwards I was 'as high as a kite' with anxiety.
Now I've been driving for 2 months and all the 10 years worth of anxiety has started to melt away. I watched a lot of videos on Youtube about things I was unsure of. LearntodriveTravis was a great one and I also watched a hypnotherapy session on there too
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What is it about it that bothers you and makes you nervous, is it just the changing gears? For me it was the fear of crashing and injuring my children/someone else and it would play on my mind then make changing gears etc clunky because I was so nervous. It wasn't really changing gears at all I just thought it was.
Please don't listen to your dad, he is totally out of order. A dad is meant to support you in your choices, not tell you you can't do something. I'm sorry he's being that way. Prove him wrong!