Is there anyway to train yourself to no longer be afraid of heights?

Of course. You can go with someone up the elevator with low levels for a while. And with multiple time, gradually go up a little higher slowly each time. Sometimes, Paxil (paroxetine) with help you also.
Gradual. Desensitization may be effective on your own. For Phobias consider Cognitive Behavioral Therapy, Behavior Therapy, Psychotherapy, Exposure therapy (imaginal exposure therapy, systematic desensitization, flooding, prolonged exposure therapy, in vivo exposure therapy) or hypnosis as possible options. Psychotropic medications are some times indicated as well.