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How do I overcome being nervous about driving for the first time?

Today I just passed my learners exam at DMV on my first go, first part of the exam I scored 10/10 and for the second part scored 26/30. I barely studied, I studied like 4 times and not even completely. I usually do well on most types of tests except math.

But I'm very nervous, I am going to drive on the road through the city next week with a licensed driver, I want to do it, I will, but I'm nervous. How do I overcome this?

How do I overcome being nervous about driving for the first time?
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