I learned the summer before college and then didn't drive for four years, so I had to re-learn how to drive. It was really difficult because I was basically teaching myself and I realized I hadn't been taught properly in the first place.
What I did was start on neighborhood roads and slowly work my way up to busier streets. I was really nervous at first, particularly after I almost caused a car accident in a friend's car, but in the end I just didn't have any other choice.
Why doesn't your family help you, though, if it bothers them that you don't drive?
The next time you fail, friend,
Straighten up and stand tall.
Far better that shame a hundred times over,
Than to have never failed at all.
"Fear is good. Keep that. But travel light. Forget hate." - Stark, "Farscape"