I was in the same situation as little as 6 months or so ago. I had put off learning to drive for ages, as I knew I was terrible, and everyone around here could drive from an early age. If I feel I won't succeed in something, I don't do it. That's just me.

I had a car when I was 17, and waited until I was 20 to learn to drive. When I actually had my first lesson, I felt great after it. My instructor had me out driving on main roads & roundabouts.

If you do lessons, just remember, these instructors are literally trained to keep both you and others safe while you are in the car. They also go out their way to make you feel comfortable (well mine did anyway). They have someone new to deal with literally every other day.

Goodluck.