Many people learn to drive a car directly from an older person that they trust and feel confident in the presence of. This might be a parent, grandparent, sibling or friend. If this method works for you it mightbe the best method to go by. If you find that you need a bit of help beyond this traditional you might find that taking a driver's education course will be beneficial. In this setting you can learn from an individual that is specifically trained to teach you how to drive.
You might also considered videos, manuals, or simulations that will help you learn all the rules of the road and prepare you to get out there behind the wheel for real. As with anything when learning to drive a car practice makes perfect. You must keep practicing until you have gained the skills and confidence to comfortably drive
a car.