Just drove for the first time. I suck.
I hate how there's always one student in the back, so I looked like an idiot in front of two people. Fun.
Driving school can be good for the insurance and learning proper rules on the road and stuff they want to see on the driving tests, but most of the learning will be through you driving with a parent\guardian.
Just run errands with your parents, and you drive. If you can take their constant yelling and coaching from the passenger seat, you can easily handle having other students in the car.
Even just driving around local roads where there are barely any cars or in an empty parking lot will be super beneficial.