Brad,
Only advice I have is don't try to teach them to drive yourself. I couldn't. We put them in drivers training. Still, you have to drive a bunch of hours with them after drivers training... 40 hours or something.. yes, it was extremely stressful, and takes up all your free time for several weeks.
The strangest thing was the first time one of the kids left alone in the car. I watched them out the front window.. it was a really weird feeling.