Drive on your own. I wasn't confident when I started driving. My partner, used to sit by me in the car while I drove to work. I would park at work and then he would go to his work, come back to my office in the evening and sit by me as I drove home. (I was afraid to drive on my own)
Well, one day as we parked the car in my office, he said "Elena, you are going to drive yourself home today". I was petrified. I begged and pleaded but he said no. Well, come closing time, I drove home holding my breath but on getting home I was so proud of myself and my confidence grew. Since then I was ok to drive on my own.
So maybe you could start by driving to the grocery store on a saturday (not rush hour) and as time goes by, your confidence will come. Good Luck :)