You should not pray with fear. God knows you and your sins.
But, God doesn't punish a contrite heart. He wants to be your friend and to listen you.
He chose Mary for our mother (because she is Jesus' mother and He is inside us), if you can't talk with your mom then Mary is waiting to talk with you and be as your mom. Ask to God that your mom to be like Mary, she is a affective mother and ever listen her children.
God sent the angel Gabriel and he taught the Hail Mary.
Full of Grace,
The Lord is with thee.
Blessed art thou among women,
and blessed is the fruit
of thy womb, Jesus.
Mother of God,
pray for us sinners now,
and at the hour of death.
Don't forget God loves you and He wants just to help you.