HOw do I get rid of my fear of worms?

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I really hate worms. I'm so frightened whenevr I see one and I start havng ithcy feeling on my skin. I don't know when this started but I had this really bad experience when I was a kid. I went out of the house to hang out on the lawn but I saw several of those creepy, hairy and disgusting creatures crawling on the frontyard and it really freaked me out. My hand was even irritated when I accidentally touched on of them. Evry time I go out into the woods or go camping,I always have this paranoia of seeing those things again, and worse, might even sleep next to it. Now, that's my greatest fear! How do I get over it?