Learning to drive

My dad has been pushing me to get my learners permit for a long time, well today I was going to get and ID just a regular ID nothing related to driving. I decided since the permit test was free I would go for it and see how I do since I have been very anxious and terrified about it, i passed. Now my dad says he wants me to drive on town roads and I don't know what to do! Should I ask to learn in a parking lot first, or back roads! I don't want to take the chance of and accident help!!