My father would sit me on his knee while he was driving down our long driveway and I loved it so I will probably do this with my son when he is a year or two older.
My wife had her first driving lesson on her birthday, as soon as she was legally entitled to drive, and passed her test a few weeks later. She had an intensive course of lessons so I'd recommend that.
It's a pretty scary thing. My stepdaughter just got her learner's license and my wife is way too nervous to teach her and lessons are expensive. Hopefully I will get up the nerve.
My fiance has already laid down the law on the driving lessons - she'll be handling it when the time comes. She hates the way I drive and she's a better teacher than I am.