Listening to your favorite songs or a really good book on tape can make the drive so enjoyable that you may not want to hurry to your destination. When driving a long distance, stay active. While operating a heavy, speeding piece of machinery doesn't allow you much freedom to move about, by shifting your position slightly every 15 minutes, you keep the body and mind alert. Finally, give yourself plenty of time to get where you're going. If you are always racing to make it to the office on time, try waking up a half hour earlier.
Few things feed a state of anxiety like constantly being late to work.