I did not get mine until I was almost 30. When I was younger, it was about anxiety. Then, after I went away to college and lived in a New England college town, there was simply no need. I could and did walk lots of places, and the busses went everywhere (and were free during the school year). When I relocated to Pittsburgh, the bus wasn't as convenient, but I could still get around, and my now-husband drove. We lived together, so I had transportation at hand.
When we moved to the suburbs of Pittsburgh, things changed. I could either hike the three miles to the nearest bus stop (walking along a highway with no sidewalks), or get a ride from my husband to the bus stop and hang around my school with nothing to do for hours. One day in October, I was waiting for the bus after my husband dropped me off and shivering horribly. I thought to myself, "This sucks. I don't want to wait in the cold, think about how bad it'll be in January!" And by the end of November, I had my DL. I simply found something -- waiting in the cold for a bus -- that I hated more than the idea of driving.
I HATE driving. My husband still does most of it, but I no longer have to wait for a bus in the cold when I have to go to work. I can join a friend without having to get a ride from someone. And a good thing too, as KC has virtually NO public transportation.