I am one who has encountered great depression, anxiety and worry for many years. I have worked through all of this and many books and studys have helped along the way. It sounds like you may want to explore what lies "beyond mind" as this is where you will find truth and thus freedom. You cannot "learn" to not worry, you can only let go and see that it is a condition of the mind and you can drop it at any time, at any age.
I could go into great detail on this subject yet my best recommendation for you at this time is to read "The Power Of Now" By: Eckart Tolle
Move forth with an open mind and an open heart and there is nothing that can hinder your personal growth.