This is the first trip in 2 months when we had a scary experience while I was driving which led to calling 911. The doctor said travel would be ok if Someone else was with to help. My son is taking us up north and my husband says he is looking forward to going. I have underlying fear of this travel, how can I relax and enjoy it? It brings up memories of the last long drive we took.
I've found that advance preparation with potential solutions is the best way to avoid anxiety.
Then relax and enjoy the trip!
If your husband has been prescribed anti-anxiety medication make sure you have that on hand. I would advise you not to rush the trip, just take it nice and easy. If you're tense your husband may pick up on that. Each time you stop make sure your husband has something to eat and drink.
When you reach your destination try to adhere to a routine as much as possible. For example, if your husband is accustomed to taking a nap at 1pm make sure he is still taking a nap at 1pm.
It's good that your son is going along. The Dr. was right when advising you to bring someone else.
And if, God forbid, the worst does come to the worst, the worst that can happen is that you call off the journey and return home. I can't see any reason why it would come to that, and I really hope you find that once you're under way you'll be fine; but realising that even the very worst case scenario wouldn't be a disaster might be something to keep in mind. Tell your son how you feel, and then he'll be able to take it gently and check regularly that you're comfortable.