help? making turns when driving?

how in the world do you make your turns? do you let the steering wheel slide thru your hands or you help turn it? also, do you press gas or you dont press anything? i find myself pressing brake instead, so everytime i make a turn, i stop in the middle of the road lol. plus, my husband says im not supposed to help turn the steering wheel, im supposed to just let it glide thru my hands and let it do its job. when i do that, i feel like its gonna go off to the side. idk, so hard and confusing.