What do you think caused you to have a relapse? I know how difficult it is to experience relapses, especially when everything was going so well, as I've also experienced this.
What you can do is to examine the reasons why you are having agoraphobia, severe anxiety, depression and panic attacks. And then, set realistic goals in order to overcome those such as going out with your family on short trips until you get used to it. And when you feel confident enough, try going out on your own. It is also very important for you to remember all the past successes that you have had when you were able to overcome your condition. Always dwell on your successes so as to give yourself enough strength, courage and determination to see to it that you recover from this illness once and for all.