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Bringing other drivers into the mix may be a stressor for both of you, but if you and your teen have been practicing in a parking lot, you will be well-prepared. However, more people on the road means more things to be aware of.  Review right of way laws with your teen. These may vary depending on where you live. Now more than ever, emphasize that signaling is important. After your teen has the hang of driving on fairly quiet roads, take them to a busier location to handle more drivers. If possible, practice in a place your teen is already familiar with.  Remind your teen that city driving requires not only patience for a lot of starting and stopping, but heightened awareness for pedestrians. Plan a route through the city with your teen in advance. This will be less stressful than being surprised by an "obstacle course." Highway driving is really fast, so it might feel intimidating for your child. The good news is that it's usually a straight shot and there are no pedestrians or bikers to worry about.  Acceleration and deceleration lanes can be stressful. Emphasize the importance of smoothly increasing and decreasing speed. Remind your teen that cars on the highway should be more widely spaced than they should be on a regular street. Tell them to try the three-second rule: start counting when the car in front of them passes a certain landmark (like a road sign). They should pass the sign three seconds after the car in front of them. Once your teen feels safe driving in different situations, take them out to drive in rain, snow, and the dark.  In many places, drivers are obligated to turn on their headlights if there is rain heavy enough to necessitate windshield wipers. Even if this isn't legally required in your area, it's good sense.  Rain, ice, and snow can cause skidding. Make sure your teen knows to turn the wheel in the direction of a skid, no matter how counterintuitive this may sound! Several times a week is ideal. Driving depends partly on muscle memory, like playing a sport. Even if your teen has been performing splendidly while you drive together, they have to keep reinforcing what they've learned until it sticks. Safety concerns are important, but as they prepare to take the test, family boundaries are too. If all goes well, you'll have another licensed driver in the house soon; it's important to figure out how what areas your teen can be independent in, and which areas still need guidance.  How will car-sharing work? Do you plan to buy your child a new car? Will you share the family car? Will your teen have a curfew if they're out driving? (Note: in many states, drivers with provisional licenses already have a curfew in place.) Will you limit the number of friends in the car? Are there certain places your teen will not be permitted to drive? Consider making a written contract for your family's specific rules. There are templates available online. Here's one from the Car Talk hosts.
Start on easy roads. Try city driving. Drive on the highway. Become familiar with extreme conditions. Practice as often as you can. Before your teen gets their license, discuss driving rules.