Don't wait.
I'm 28, and I just finally got my license legit today. The biggest thing I can say is, don't wait. It's actually pretty easy and isn't as stressful as it seems. There are schools that, if you pay for it, will walk you through everything and have a vehicle for every step of the way. I passed with 0 points taken off on the test.
Edit: If you ever need questions answered, I don't care if this post is up 10 years. You may message me, and I will respond. I will help the best I can.