Hi OP. First, know that you are not alone (see ucsdfootball's thread above). Everyone has their own story, and it makes and shapes the journey you take towards medicine. Second, know that where there's a will, there's a way. It's a cliche phrase, but it's true. Third, ask yourself "Why do I want to be a doctor?" Take note of your reasons, and use that to motivate you. In the darkest of times, I've used the above to anchor myself towards my goals. Although it took me much longer to complete my degree, I know my struggles have largely elucidated the type of physician I plan to become.
A little about me: I graduated with a 2.6 GPA in a science major. I also went through some ups and downs, so my transcript reads like a train wreck. I'll be applying to post-bacc programs this year. The GPA could be better, but the program coordinators have told me my volunteer work will help compensate for that (Note not all post-bacc programs will review applications that holistically, but I've done my research). If I don't get in, I'll go through my alma mater's extension and do a DIY post-bacc.
*Btw, there are post-bacc programs out there that are "academic enhancers", as well as "career changers" (regardless of if you were a bio major or not)
I would recommend doing a DIY post-bacc. You can talk to post-bacc students at the program of your interest and see what sort of classes they take. Mirror your academic plan after theirs. Or, if you're like me and your confidence was completely smashed by undergrad, perhaps get your feet wet and take a few science classes (preferably at a four-year institution or state school). Since you haven't taken the pre-reqs, you can start there! Do you have any clinical experience? If not, find a local clinic/organization to volunteer at. I found working with healthcare providers and patients kept me motivated.
In short, it's gonna takes a lot of time, energy, and persistence... but if you want it, go for it!