My mom is super controlling over me and my child. How can I be more independent?

So I'm a 1st time mom & for a while I've been dependent on my parents to help me, I feel like they wanted this to happen tho.. both of my parents are narcissist that hate to see me being independent yet complain about how I'm not all the time.

I have terrible anxiety & I'm super awkward I social situations so it's hard for me to do the most basic things like taking my son to doctors appointments.. even worse is that he will start school soon and I don't know how I'm gonna do it. I want to be independent & stop leaning on my parents for support, has any other moms been through this? I'm scared of my son starting school bc I don't even know the procedure I have to go through to enroll him or anything.. it stresses me out to think about but I would do anything to take away the control my parents have over my life...
My mom is super controlling over me and my child. How can I be more independent?
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