Help me PLEASE!!

I really need some advice here and I hope you all can give me some :). Ive been working with the same job for about 4 years. Right out of high school I started working and really didnt pay attention to school. I was so glad just to get out of high school I wasnt really thinking of school just making money. Money has always been the only thing I really thought about. We need money to survive. Now im 23 years old no kids,living the single life. Ive come to a point in my life where I want a change. I love my co workers but the motivation to work and stay focused has been bugging me for a while. Ive always wanted to be a nurse. Everytime I saw a nurse and how they work I always paid close attention to them and what they do. Just something about helping others and making them feel better has touched my heart. I want to be that person to take care of someone and help someone feel better. A few years ago I passed up an oppotunity to go to school and get a degree but i said now and why i did is because I was afraid of failure. Im afraid I will let myself down and my family. I want to have a career. Nursing has always stayed in the back of my mind and I really want to do this but its not easy to just walk away and leave the 4 years Ive invested in my job. I have bills and am afraid that I will fail with that. As of right now my job has a new plan that they have just introduced to us. Basically the plan consist of my job paying for the tuition to go to school to cover the in demand for RN,LVN,therapist assistants in state schools in texas, However long it takes you to complete your degree you will pay the employer back by working at one of the state school facilites and after that you are free to move on to hospitals,and or private doctors. For the RN in which I want to do the monthly salary to live on is $2300 per month and with that I would pay my bills and also any books, supplies, gas, etc for school. If I fail to complete my degree I would have to pay back the employer out of my pocket and lose all benefits and be out of school and a job. Im so terrified of math and science. I tried going back to school a few months ago, I withdrew myself because I was working full time and taking one class and I felt that I would fail because I didnt have time to study. I know it sounds like an excuse but Ive always struggled with school but I know nursing is my calling I want this so bad im just afraid of failure . I have talked about thisi to my parents but basically is what I got is " looks like a good oppoturnity for you but you have bills and well its too late to go back to school you should of thought about that yrs ago ". I think they are more worried about money and I think their financial mistakes has me scared. What do you think I should do? I Know this is a 2nd oppourtunity for me since I passed up the first one. I just really need some kind of advice on this. I really dont know who to turn to. I know school will be hard I just know it but I have a fear because this is a complete life turning experience for me. Thanks for listening :redpinkhe