How can you make a co-dependent relationship become healthy?

I am married to a great guy--but we were married very young. He sort of helped raise me, and I'm four years younger than he is. It took me many years to even become a licensed driver due to this co-dependency. I find that still I am telling him everything I do, getting approval from him in every aspect of my life. I want to change this but do not know really where to begin. I became licensed out of a necessity (he became ill a few years back). But the other things I just seem to be in more than a habit of doing----I actually feel like I cannot do anything without checking with him first---and then after I do something, like run an errand while he is at work, I always call and tell him or email him or IM him. He is getting annoyed at this. Especialy when he his home from work and I come to his office every few minutes to talk with him. He grew out of the co-dependency I suppose, and I did not, and now perhaps its just me being dependent on him? Any thoughts?