Driving anxiety and 28 years old

UPDATE: I forgot to update you ladies but your girl has her drivers license and I purchased/own my first vehicle now!!!! Thank you all so much and I pray that many of you who felt how I did the best through the many challenges but you will get it! Just have faith!

Well... I will start this off with saying I am ashamed of myself for not having a drivers license or my own vehicle. It isn’t easy going places and having to depend on others for transportation especially since I am a single mother... my child definitely asks me often about us not having a vehicle and a drivers license. I want to get over this feeling of fear and take the proper steps towards getting my DL. I also am uncomfortable with driving my fathers truck to practice... I thought about purchasing a vehicle and driving to where I need to with a licensed driver since I do have a permit. Not really sure I’d that is a good idea or not. I just wish I could get some advice and no one would make me feel horrible about my circumstance. I would really appreciate it ladies. Thank-You.