Hynotherapy helps. I have used a hypnotherapist with patients who are very fearful and have had good results.
Find a mentor. Regular practice will help. Find a good hynotherapist or biofeedback teacher to help. Also the homeopathic remedy argentum nitricum (preferably in a 200 (pyrethins and piperonyl butoxide) c potency...(your health food store can order it for you) will also help with anxiety in general and needle phobia in particular.