It'll just make you feel very anxious at first but once you get to drive in a highway or busy street on a regular basis (say, a few weeks to a month), you'll eventually get used to it. Once you do, you probably would want to drive your family, friends and everyone home. I've gotten to a point that I feel really lazy to drive sometimes. Parallel parking is one of the hardest thing to learn so just keep trying and be patient.
