>>972049General good bike health = important
(true wheels,proper tire pressure,smooth runing headset etc)
I learned it by removing my hands at increasingly longer intervals(1 sec-few secs-couple of dozens of secs)
Having little weight on the front(eg sit stright on the saddle) helps me tremendously
Take it a step at a time,I understand It can feel disturbing as you feel to "not be in control" all the time.
Best of luck to you my friend and remember,while it it nice and sometimes practical to cycle no-hands,Its not needed by any means