Learning how to cope with daily anxiety

I would like to know how other people in this group deal with their daily anxiety.  I have a very low energy level so it is hard for me to go out and walk.  I have lost interest in housecleaning and I suffer from Hit and R un  O.C.D.  When ever I go out driving  my anxiety level climbs even higher.  I have gotton better at doing exposure therapy and I am able when I get  an O.C.D. thought  just labeling it as just that.  The last two years have been very strtessful for me.  My parents have been verbally and emotionally abusive to me and just recently I think they finally got the message that I don't want to have anything to do with them unless they can treat me with respect.  Several therapists  and also the therapist that I am seeing now have told me to sever the ties with my parents.  My son went to college out of state my daughter has a developmental disability.  I have a supportive husband.  I have problems getting motivated to do anything.  IK am also 49 years old  Please help me.
Becky