You're gonna just need LOTS of time at it. Like I didn't move out of the parking lot for about a month of driving every other day for an hour. So you just have to really orient yourself with a car in the parking lot for a long long time.
One thing I think that helped me was racing games. Even without the pedals, the actions of braking and accelerating and turning helped in real life driving I think. I know with a wheel in most racing games, people can lap just as well as they do in real life on the same track with the same car. If you get pedals, it could be even better, and more frustrating of a sim. Forza 3 and Forza 4 are super realistic, so realistic I thought the MKII Supra (which I own in real life) was pretty spot on the way it was in the game.
Some of it, too, is just general brain hemisphere type stuff. I have NVLD so I have lots of visual spatial processing issues, and I manage to drive, however I don't like driving on the highway (or really outside of a certain 3-4 mile radius away from home) without some caffeine in me to speed my processing times up. But one thing I did notice was, I could "think" less while driving, after ice skating for a few months, just because ice skating is a really visual spatial intensive activity, but at the same time, there's no pressure/anxiety about it. I was able to hold turns for longer and judge distances better and all that stuff, too. So any kind of physical activity that gets you more aware of your body helps, I think.
Also I like manual trans and older cars better, too, as you feel more directly in control of the car. Like new cars don't have throttle cables, it's drive by wire, so like, I can't judge the accelerator pedal how far I'm pushing it, for example. Basically for me, the more control I have over the car, the better. But new cars, despite being cushy, I can't "feel" what they're doing as well, so it's harder for me to drive as I feel really disconnected. I know it sounds weird and car magazine kinda talk, but yeah, for me, I really like older cars because I feel they give more feedback. Like my mom's new car for example, has electric power steering (so the steering is way too light) a CVT transmission (never feel it shift gears because the gear ratio always changes, so you can't predict how a gear change will affect driving) and the drivebywire, and I don't like it at all.
But, practice in a parking lot, basically forever. About the only way it'll come.
Lastly, driving for me is a weird dichotomy. I really LOVE driving recreationally, and alot of times it burns off steam for me, so to speak, to be able to drive on some country roads, especially at night with no other traffic. It's one of my greatest joys in this world. Then I can have a full blown meltdown trying to get to a new place or driving on the highway. That and I'm more or less a mechanic and cars are a big hobby of mine. I think also, without the anime Initial D, I'd probably not be driving today. I really love Initial D. So this motivated more to drive than like, independence and all that fun stuff did.
[youtube]http://www.youtube.com/watch?v=JcYMDGbT3MM[/youtube] https://www.youtube.com/watch?v=XUEa7ZoLEno
However the thought of driving 1980s Japanese sportscars to defeat your street racing enemies may be less motivating to you.