Trying to become a productive adult in society

With each passing day, I want to become an independent and productive member in society despite the challenges I have to overcome which do include personal fear. In the past year, I have learned how to do several things independently such as cook and order my own medication over the phone. I guess that I was always afraid of being judged or badgered if I tried to do things on my own and possibly fail. Now I am thinking about a group for people with disabilities who are like me or worse off than I am. I hope to learn a lot, make friends, and hopefully gain a relationship with someone I can relate to and feel comfortable with. I constantly worry about if I wet myself when I go outside no matter how much I change my diaper or try to use a toilet. I want the worry to eventually go away so I could other things.