Unlike some of the advice, only certain pills can be crushed or cut in half. Pills that can be cut in half usually have a small groove on one side or both sides. The picture below is of Dilantin Infantabs:
When I was younger I had a similar issue. Unlike other users, it wasn't because I had previously choked on something, I was just fearful that the medication would get stuck in my throat. To practice, I swallowed peas and similar-sized foods whole because most pills are around that size. Later on, it became easy because I just imagined it was a pea. Now I don't have to imagine it as a pea, I have no problem taking pills.
If you don't want it with water, you can take milk, applesauce, yogurt, etc... . Be cautious for juice though if the ingredients contain grapefruit juice, even if it's a small amount, take something else.