Techniques on having confidence while learning to drive?

-I just got my permit July 8th and my parents make me drive everywhere now. I get really nervous when driving with three other drivers in the car(mom,dad,sister) my dad makes me even more nervous when he raises his voice. I end up in tears(from fear, anxiety,feeling of failure) after every time I drive. I know it will just take time, but does anyone have techniques or tips on how to be less anxious and scared? Anything helps! Thanks.Talk to your dad about him raising his voice. Mine did that, too, when I was just learning to drive. It must be a dad thing. Regardless, the only way to not be nervous and to feel confident in your driving abilities is to practice driving with someone who is very calm and collected, as well as experienced in both teaching (preferably teaching how to drive, but any teacher will do) and driving--so not someone who is 17. They haven't had enough experience themselves to be teaching someone else. 20+ should be ok, but the older, the better until you start getting into the 60-year-olds. For some reason, they can never drive, no matter how long they've been doing it.