23 can't drive

So, I'm almost 23 with a 10 month old. I bought a car. As a teen my mom would not teach me to drive because she was afraid I'd wreck her car. Now I'm 23 and I got into an accident learning to drive in February. Now no one really wants me to drive with then in the car. So, I'm forced to teach myself with just an instructional permit. I WAS married and basically he took me to places I needed to go. I'm separated now and my mom suggested I drive around our development while she watches the baby sleep it is night time. I'm really scared has anyone learned to drive by themselves? I need to be able to drive to work which is 20 min away on the highway. Any advice?