It sounds like you may be mildly depressed. I have days like this, sometimes a week at a time. Every thought can bring tears to my eyes for no reason. It sounds like you may feel a little "disapointed" with your atempt to drive to the beach. Don't be!! Think about lying on the beach with your dad. Walking in the water, eating watermelon. Think about how much fun it will be when you get there. 
I know how you feel. I have driven to places and sat in the parking lot just to turn around and go home.  
You can make it there! You can do it! And when you do it will feel so good knowing that you made it through!! 
Have faith in your self.

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Thanks so much to Kellybeth for the reply. Unfortunitley I tried all of that and I didn't end up making it the beach. In fact I spent my entire vacation in the house crying. Today I went to a new psycologist who cost me a fortune and I suppose didn't make me feel any better, I was crying when I walked in, crying when I walked out a few hours late when I tried to go to work I got so worked up my roommate had to come and get me to take me home! Seems I'm getting worse by the day and I don't know that there's anything I can do about it. I've never felt this helpless before. I haven't been so scared by my panic that I thought about going to the hospital in years but if I wasn't afraid of the place I would have gone today. I'm going to try to nap now, if I can stop crying. It is great to hear everyone else's stories and to know that I'm not the only person that goes someplace, sits in or drives around the parking lot and then leaves. I know how victorious it can be to accomplish your goal but for some reason the little triumphs aren't helping me at all these days!

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You will get um next time. It's ok. Don't be upset with yourself. These things happen. We have all been there. I wish you well.

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