The answer is you just go drive. When my dad 'learned to drive', he started by driving up and down his driveway about 3 times, then he illegally drove across the city to table mountain.
If you go get in the car right now and drive on the interstate, chances are you'll be absolutely fine (don't actually do this though, but it's true). Go get in the car and do circles in a parking lot and you'll get the hang of it in no time.