19 and can't drive. Help.

Y'all. I need some advice. I am 19 (will be 20 soon) and I don't have a drivers license. I've driven a couple of times but I'm just scared to learn and I've gotten so used to relying on people. I know I need to learn so I can get a DL. I mean I'm an adult I'm just scared. Any tips/advice? 

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