Worry is a total waste of time, it doesn't change anything. All it does is steal your joy and keep you very busy doing nothing.
For a person to live their life without worry, they have to be totally committed to living their life without stressing over the basic parts of life. To avoid worry in our lives we have to make a conscious effort to first, stop thinking negatively when something has the potential to go wrong.
Instead of allowing negative thoughts to form in your mind and instead of vocalizing these negative thoughts after a while, we have to know to immediately replace any negative thought that we here in our mind with a positive one.
Another helpful trick to avoid the fear we introduce to our own lives by worrying is to be committed to prayer and meditation. When your spirit is still, and when you have something that you believe in with all of your heart, the need for worry in your life will diminish immensely, and almost indefinitely as long as you continue to hope and believe!