The way to avoid procrastination is to understand and use what your mind is trying to do - give itself instant gratification.

I use this method:
Step 1: Prepare your workspace in every way possible.
Step 2: Leave. Go do something fun for 20 minutes or so (yes, procrastinate on purpose). Get your mind calmed down and get rid of the anxieties about starting by just not starting.
Step 3: Sit down in your prepped environment, free of distractions and with a calmed mind, and pick a task to start hacking away at.