I'm terrified of driving, everything looks too complicated and too fast, and if you make a mistake you can die or injure yourself really badly.
I rode a bike on the road once with a friend leading and that was one of the most terrifying experiences of my life.
I can't even imagine driving on a motorway.
How do you know you've got what it takes to drive?
That's why you start slow.
Go out to a part of town that is sparsely populated and practice driving there.
As you learn to control the car and all that then you start driving on more populated roads.
The more experience you have, it's like a second nature after a while.
You just do it. Reading manuals doesn't help that much other than to remember your basics. You'll likely fuck up a few times but that's bound to happen.
My advice: get out into the countryside or a seldom-traveled mountain road. Get comfortable with the car in a low-stress enviornment. Take it slow, get the experience you need. Then attempt the motorway. Do a loop around your city. It's really quite easy, and will even be fun after a while.
If you need further reassurance head h/o/me
Find a parking lot for an office that's closed on the weekend and drive around it until you understand how to control the car. Drive around the block the parking lot is on, repeat endlessly until you have the balls to succeed
The easiest way to start driving is to have someone drive you to a somewhat remote place like a really big empty parking lot where you can get in the driver's seat and practice.
Most large parking lots have planters or light poles -- something -- that can help you practice maneuvering around objects. Challenge yourself to drive/park while staying perfectly lined up with lines on the ground. Practice slow stops and slow take offs. Learn how to drive in a straight line without having to swerve too much.
It really should only take a little while before you feel fairly confident that you can control the car in the most basic ways. Then, have your friend/partner drive you to a road that sees very little traffic, if your practice parking lot doesn't happen to be on/near one. Then practice stopping, turning out into the road, staying in your lanes, etc.
Honestly, in most situations, if you want to travel in one direction, you really only need to stay on the inside lane (closest lane to the middle of the road) without swerving out of it, and make sure you maintain a safe distance, but also keep up with the car in front of you. Do that for a while, and you won't even have to think about it eventually.