Can you override nurture?

I have a problem. My parents raised me extremely overprotective and kept me inside the house most of the time. They barely taught me any skills such sports or even any other minor life skills. They loved me and gave me everything I needed, but they turned me into and empty shell with no proper skills and no self confidence. From a young age I had psychological problems such as major depression, large attacks of fear and anxiety, and unable to see reality for what it is. My parents were too naive to believe that I had any big problems when I told them I was feeling down (depression, but at that time I didn't know what I had) they just told me to be happy with no further investigation into my problem, and took my fears and quietness as nothing of significance. As I grew a little older and become a teen, I began to break out a bit as I started slowly hanging out with friends, got hobbies such as a healthy lifestyle and exercise. But even now at the age of 19, I still get depressed from time to time, feel hopeless, have unnecessary fear and anxiety, and lack of self confidence. Even though I know I shouldn't feel this way, and that there's nothing to worry about, my senses tell me otherwise. It feels as though my past has raised me to be useless in life and deject things, I know my senses are false, but it's hard to ignore them. Is there a way to override nurture?