Is there any medicine that can relieve stress?

Is there any medicine that can relieve stress?
Blackmores Executive Stress B formula tables are pretty good.
I know natural things, such as lavender, (and I am allergic to most of them,) and I'm not looking for answers like alcohol or marijuana.
The stress is borderline anxiety/depression (which I have a recent history of) and I don't want it to get to that point again.

I am also willing to hear of anybodies relaxation methods/routines such as bathing with candles.

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