I dont think the fact you stole your parents credit card has anything to do with your self esteem issues. I mean, it can make you do stupid things that dont make sense, but not nessesarily steal from people.
I have horrible self esteem. I doubt myself on anything, i worry and get anxiety so bad i throw up, get dizzy and feel like i am burning out of my skin. I find if you 'throw' yourself into situations and try not to over think the silly things. It helps get the mind out of that rut thinking 'I cannot do this'. I have extreme fears about the STUPIDEST things. Like going to eat in front of people, sitting at a gathering that maybe the attention might be turned onto me for some reason. I dont know.. I couldnt explain it.
But i find just making yourself do things and ignoring your fear helps alot. I find it like training the brain almost. Kick it out of its usual reaction and just make yourself DEAL with things out of your comfort zone. I am no where near to healing on my self esteem issues. No where near, but i find i have a little more confidence on the little things i used to find terrifying.
Like for example, everybody at work has been asking me to apply for the manangers position at work that came avalable. It has come up a few times as lots of people are leaving, but i never would. Not in a million years would i dare take the responsibilty of that job i thought! I was sick of feeling let down everytime someone else got the job. Last week, the job came up. And without thinking about what 'might' happen i just went and applied. I worried a little bit that night. But now we are on a trial period to see who does a good job etc.. And i am doing fantastic!!!
The point is, you have to look at yourself and believe that nobody is better than yourself. We are ALL equals in this world and we shouldnt be afraid that we cant do something. We can accomplish anything we want if we put our mind to it. DO NOT let fear control you. That is no way to live.
So, throw yourself into things you wouldnt usually 'dare' do, the more you accomplish the better and more confident you will feel! You just need to push yourself.
You have all the weapons you need... Now fight!