Did anyone have any trouble learning how to drive?

I'm 23 years old and I still haven't gotten my driver's license. I know, I should be embarrassed and I am. I see all these 16 years old driving and I'm over here feeling like a complete loser. Every time I get on a car I start to get shaky and I start having all these negative thoughts which makes things worse and I end up giving up :( I'm a very nervous person and it's so hard to control myself when I'm in a scary situation.