How to lead a worry free life?

Life these days are stressful and many days I woke up in the middle of the night and can't go back to sleep because of heavy mind. I sat up whole night worrying about my entire life.

Daily, I am worried about my kids, my job and my life. Can't stop worrying from the smallest item, issue to the biggest problem that I can see.

How can I stop worrying and start living? My bad sleeping situation causes me to be tired, frustrated and bad temper and this cycle goes on and on. How do I get out of this?