Driving is something that is liberating in urban areas....and downright necessary in suburban and rural areas.
I would take the advice of the other posters, especially the one who stated you should get in a car and drive one minute one day, two minutes another day, etc.
The ONLY reason I learned to drive (I got my license at age 37!) was because I "took the bull by the horns," just got in the car, and drove on my own. 70 instructional sessions led to a road-test failure. Three sessions by myself, and I passed the road test with flying colors.