Driving

OK so I finally learned how to drive I know how to switch lanes everything but now every time I drive my husband is always there as the passenger well I haven't driven all alone yet and just the thought of it gets me really nervous which is why he hasn't let me cause I might make mistakes or crash or something but because I have kids I want to do it alone so I can take them to fun places , appointments, run errands etc. But Idk how do I start all by myself or any tips anyone has ?