I want to make my own decisions

I have a mother who is still running my life even though I'm almost 30 years old. I want to move out and live my own life, but it feels like as long as I do what my mom wants our relationship is okay. It's never okay if I don't do what she wants. I don't know how to start making my own decisions and not worry about whether it's right in her eyes. Would it help for me to talk to someone about this?