How can I learn to relax and get rid of stress and anxiety?

Many resources. There are many resources for this - books, cds, classes, and counselors. See www.Thehealingmind.Org for stress, anxiety, and worry solutions.
Meditate, counsel & There are many different relaxation techniques including meditation that are highly effective- see www.Healthy.Net/scr/article.Aspx?Id=1205 you might also benefit from counseling- many psychologists specialize in stress reduction. Self-help techniques like emotional freedom technique may also help- see http://www.Eftuniverse.Com/ please see my comment for a couple other ideas. Good luck!