Overcome fear of driving?

I got my learning permit in florida in august. I have only driven like 4 times since then. Always to the gas station at the corner. Today i finally drove about 10 miles back and forth. I am just realllly nervous driving. I am afraid someone will jump in front of the car, or a dog will run into the street. Or someone will just crash into me. I panic at intersections and when i have to change lanes. My dad is always saying your going to much to the right! or you want to fix that hole? or some comment like your the president of the old lady drivers...i live in miami where no one knows how to drive..when i try to merge they never let me pass..and when i drive 10 miles over the speed limit they are tailgating me and cutting me off....what can i do that will not make me so nervous.....?Overcome fear of driving?
I have the same problem as you.

To get more confidence you have to practice and practice. Keep driving till you get use to the road and handing. I just pass my driving test 6 weeks ago :D

All I did was just practice and practice