As some of you know, I lately earned my Driver's Temps. Now, for the last few months I've been driving with my Dad around the town, doing the usual stuff. But every time I'm doing this, I have this cringing knot in my stomach every time I get set up.

So here's the point. What do you guys advise I do to get over this...fear, I suppose?

I had a similar feeling during my first few hours... Well, actually I am still on those first few hours, but I feel that the best thing to help you get over that nervousness is to keep driving. Experience makes you more comfortable, and that feeling of nervousness will go away with time. Although you said you've been driving for a few months now, so I am not sure how much time you might need. 

This might not go well with some people, but don't listen to the rules of "you have to sit this way yada yada yada."

What I do is usually get comfortable first. I have my seat pretty far back because I have to slouch to compensate for my kyphosis, long legs, and long arms.
Then, I worry about my rear view mirror. I try to get as much of the back window as possible in the mirror. Then, I set up my side view mirrors.

Try that. Be comfortable, not stiff.

the only thing I can suggest is to drive as much as you can. I used to hate driving when I was first allowed to (with an adult in the passenger seat). I was always nervous and worried about messing up. You'll become more comfortable the more you drive. You'll get used to where other cars are and where the blind spots are in the car you drive the most. It's like a lot of other things in life. The more you do it the better you become.

If you know a place with a low speed limit and doesn't have that many vehicles around, that's a great place to start. You can slow down if you feel nervous and nobody would mind. I used to get too nervous when driving as well, specially if I see the speed limit 100 signs (and higher), I freak out and find a smaller road with lower speed limit.

Though once you get used to driving slow after awhile, I'm sure you'll be comfortable but kind of bored going slow and you'd like to increase your speed even for a bit.

Practice Pac though I was never really nervous when driving. I am only nervous when it rains  really hard or when there is a lot of traffic. The rain thing if from me crashing my motorcycle on the road in the rain and ever since I really freak out when it down pours. Especially when it rains hard at night and I cant see.

Drive and keep driving.  Experience is the only thing that will make you comfortable and you have to get back in that seat every single time.  Offer to drive whenever you can so you can start racking up hours.  You'll get more comfortable and more aware of your surroundings when you practice and you'll feel much better when you start taking over.  You won't need as much help or guidance and you'll be able to operate a motor vehicle on your own sooner than you think.

Practice, practice, and practice.  Practice some more, do a little more driving, and then go for a drive.  I feel comfortable behind the wheel because I have been doing it for 15 years.  It is something only experience can solve.

Also, if you hit something, you finally know what that's like.  It's not that scary as long as it is not high-speed.  Maybe if you go out and crash once to get it out of the way, you'll be a lot better.

Could it be that you get nervous because of your dad? When I first got my driver's license my dad wouldn't let me drive alone and so he would always tag along... and that made me super nervous. When I'm driving on my own I can relax more easily.

I still haven't got my permit yet but I have drove a car before and that's exactly how I felt I think it's just nervousness. Take your time and practice. Sometimes this takes a while but eventually you will become used to driving and it won't be as scary... that knot in your stomach will be gone once you become familiar with your surroundings and comtorble with driving in general.

Something I forgot to mention in my post a few days ago is drive defensively. Drivet o keep you and your car safe. Don't try to force turns, or force lane changed. Only do it when you know you are good to go. 

Thanks a bunch for the replies, guys. I really appreciate the advice you guys are giving me. And I have to admit, my butterflies for driving have mostly gone away now. I'm pretty ecstatic about it

Thanks again, guys.