21 and no license...

Hey guys, so I'm 21 years old and I don't have a license...I know it sucks, but I really never needed one. I live at home and my parents or friends drive me around ( i know that sounds bad ) but lately I have been feeling like a loser and it's putting pressure on my relationship since he has to do all the driving and he lives 30 minutes away so i know it's a lot on him. I am going this Thursday to take the test and I am really nervous. Can anyone relate and does anyone have any words of encouragement?