What to do

So I got this internship at this amazing place that helps sexual abuse victims etc. when I applied they mentioned other roles besides administrative such as driving. I said that I don't feel comfortable driving people around since I don't want the liability/responsibility. I'm not the best driver and don't want to have to transport people around to places that I'm not familiar with. I want to to rejoice my concern. Does this sound valid? From my understanding of how they explained this it is not the important part of the internship at all. They internship is much more administrative. How do I voice my concern while not making them think that I'm lazy since I truly don't feel comfortable driving people.