33 years old and don’t know how to drive!

I live in NYC so we all use public transportation but it’s finally come for me to buy a car the only problem is I don’t know how to drive and basically I’m terrified to even go behind a wheel but we are planning on moving out of state so it’s necessary. I’m more terrified of driving in the highway and I’m just wondering if this fear goes away? Am I the only one who feels this way? 😕