"I've been having anxiety lately [about] every last thing," Kim told her friend Jonathan Cheban while the two had a beachside lunch. "Like even driving here, I tried to drive not all the way on the freeway because what happens if a car flips over and hits me? I think of every freak accident."
"Leaving Caitlyn's house, and driving down the hill, I was like 'I don't care if North is 25, I'm not letting her drive up this hill and down by herself," she added, referring to her 3-year-old daughter, whom she shares with husband Kanye West.
To help her girls try to overcome their issues before they become "debilitating," their mother, Kris Jenner, hired an anxiety therapist, Michelle Massi, to come to Kim's house and sit down with the pair to work out their issues.
While Kendall was nervous to open up -- thinking about her panic attacks only seem to make them worse -- Kim decided she's going to give it a go.
After explaining how she's always afraid of a car accident whenever she's driving, Michelle took Kim for a spin to force her to face her fears and share her thoughts while driving in real time.
"I just want to get past my anxiety and figure out a way just to live life like I was before," Kim shared.
During their drive, it was clear that Kim was on edge, but she managed to keep her fears at bay while listening to Michelle's advice on accepting her fears and tolerating them instead of reacting to them.
However, the real source of Kim's strength came when she and her mom were looking through an old photo album with pictures of her late father, Robert Kardashian Sr.
"My dad lived his life to the fullest and now I have all these photos I can look back at," Kim said. "I know he never lived in fear and I don't want to ruin all of the memories for my kids because of my own anxiety."
"The last thing my dad said to me was, 'I know you'll be okay. You are strong.' So I would never want to not live up to that," she added.
Later, Kim spoke with Michelle over the phone where she revealed that ever since her visit with the therapist, she hasn't had any panicked thoughts while driving.
"I have a little bit more of a handle," Kim told Michelle over the phone. "I'm not freaking out as much."
According to Michelle, Kim may have a better grip on her issues now that she understands the source of the problem. However, Kendall is still dealing with her crippling fear.
Together, Kim and Kendall decided to try a meditation and mindfulness class to get the 21-year-old runway model in a peaceful state of mind. Despite her trepidation, the mediation seemed to let Kendall enjoy a calm and restful spirit, at least for the time being. However, there's no way to know if it will help her terrifying sleep paralysis. Check out the video below for more on Kendall's' bizarre medical affliction.