Although my mother tried, a good family friend ultimately taught me how to drive (stick shift) when I was nearly 16 years old. Once I had the hang of it and just needed to practice, my mother and I could go out together - but for the basics you probably need a super easy-going and trusted someone who has a little more distance and is less likely to get frustrated with you.
The smallest amount of frustration or annoyance is immediately obvious to the poor tyke behind the wheel, and stress levels rise exponentially. I strongly recommend finding someone trusted who really just doesn't care whether your child has finished her chores in a timely manner. Neighbors, family friends - all good choices. And it helps if they have a super old car, of course. No Mercedes for Jr's trial run (speaking of unhelpful stress).