Answer: It depends on your state...If you live in the United States, but in summary, an instruction permit holder who is younger than 16 may drive only when accompanied in the front seat by a legal guardian, or qualified driving instructor. At 16+, teens may drive when accompanied by a person who is at least 21 and has a valid driver license. I also put up a image on my answer so you can find your state. :-)
Hope this helps, have a BLESSED and wonderful day, as well as a safe one! Also, hope your having a good 2020, also, I believe that each state has different test to see if someone qualifies for driving, so whether you're getting a permit or license, good luck! :-)
-Cutiepatutie