Do you mean learn to legally drive or just drive? I'm sure WI isn't any different than any other state, whereby you need to take a written test and a road test and pass them both. But, before that, you need to get a learner's permit, which let's you drive only with a licensed driver and it used to be only in the daytime, but that may have changed. Maybe the learner's permit is only for those under the age of majority (18), not sure. People really learn to drive by logging miles on the road.