I got great advice from a councilor when I was afraid and stuck. The fear of the unknown is what makes a lot of people do nothing.
Think about and write down your worse fears about leaving. Then for a half an hour each day take them one each day and think of what you would do if you were in that situation. Such as, if it's lack of money, how can you solve that. Get a room mate? Apply for assistance? And find out how. And write that down. Take one at a time and by the end you will have a written game plan. You no longer feel afraid to move forward because you know what you will do and there are no longer huge unknowns.
There will always be things that don't go exactly as planned, but there is no longer this big black hole of fear.