The first time I drove out on the highway I was a nervous wreck. I was sweating, my hands were shaking, and I was extremely paranoid about speeding. I found that it was very relieving to talk to my mom or sisters while I was driving to take my mind off all the worst case scenarios in my head, concentrating to listening to the radio (but still paying attention to the road) was a good stress reliever, too.
I got my license last summer and was driving to classes within about a week. I haven't gotten in a wreck or killed anyone so far. I assume since you have your learner's permit you know the basics of driving. Once you tell yourself it's going to be okay and keep practicing you should be fine.
