I am scared to drive, what should I do?

You'll get used to it dude. Do you have someone else besides your mom to learn with. With her being a nervous wreck it's not going to help you. Also learning in a parking lot is not really a good learning tool. You need to find some deserted street or road without much traffic. You can't get up to any kind of speed in a parking lot. Just relax. The more scared you are the worse it's going to be.