will i ever learn how to drive!? 😣

im 23 and just starting to drive, well, i did practice here & there when i was 21 and 22. but after having kids, husband very busy, i stop. we only had 1 car too. now we have 2 cars, im currently learning how to drive again. its been almost 2mths now of driving once a week. i still cant drive at all. i now have a fear of driving too cause all my husband ever do is yell and call me names. i get so shaky all the time. ive never had this w anyone, but him. ive never been afraid of driving until he taught me. hed say that im fking stupid, bitch, dumb, dont have a brain, a fking 5yr old, i should just die, i shouldnt be living, and im so useless. hed explain something to me over and over, accuse that i dont understand it, and yell that he doesnt fking know cause im too stupid. when i do understood, he just chose to repeat it a zillion times. one time, he told me to put the car on cruise control, cause im too stupid, and cant control my speed. the cruise control button was on the wheel, 1st he showed it to me, and i tried pressing it, but somehow it didnt work. he then kept moving my hand away from the wheel constantly, putting my hand where the cruise control button is. making me lose control of the wheel and going off lane. one car even honked at us. he just always yell at me and puts me down everytime he teaches me how to drive. idk if i can ever learn how to drive w him. or im wrong and just need to focus on the driving, not getting put down and yelled at?