I also learned to drive in my 20's and I took driving lessons, you know, where you're in a car with dual steering wheels and brakes and the instructor can easily take control of the car if need be-- you can find instructors or driving schools listed in the yellow pages (I'm assuming you're in the US).
In my case though I only drove for about a year and a half and then I moved to a city where I didn't need a car and didn't drive for nearly 10 years-- now I still have my driver's license but I think I'm going to take a few lessons again to get back into the groove.
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