Many people don't learn how to drive when they are minors. Many people's parents don't or can't teach them to drive. There are driving schools and instructors who teach driving skills professionally. So, if you want to learn how to drive, check that out.
Also, in the U.S., once you are older than 18, you can often get a permit to learn to drive that allows you to practice with any licensed driver. Minors are usually restricted, and must have a parent, guardian, or specially licensed driving instructor in the car with them, but this restriction does not usually apply to adults. When selecting someone to help you learn, pick experienced, calm people. Also, be careful where you practice at first. Empty parking lots can be useful.