Overcoming Anxiety and Panic Disorder

Hello, I am 32years old and have been dealing with panic and anxiety disorders for years. It has just been in the last three years that I feel it takes over certain parts of my life. My mother has them to which shows that it's genetic. I have problems driving at times, shortness of breath, and sometimes feel like I am having a heart attack. At times, I think it makes me into a hypochondriac. I have taken Xanax before, but it only helped for a short time. I want something that will cure it not cover it up. Should anyone have suggestions, it would be very apprecitive.