What is the best medicine or solution to fight Anxiety?!

What is the best medicine or solution to fight Anxiety?

I took a cognitive behavior therapy class (group therapy) and it touched on anxiety. (This was a class for me and my depression/anxiety, not in school or anything). One thing that the instructor said that has really stuck with me was, "We often get anxious because we feel that we have to get so many things done in such a little amount of time. Who says we have to get these things done now? " Example: when my kids nap I feel really stressed out about sweeping, mopping, vacuuming, dusting, doing laundry, dishes, etc. ETC. before they wake up - but really, will it kill me to have to do one or two of these tasks later on in the day? Hope that makes sense... sorry if it doesn't!