I don't have my driver's license....?

I am almost 20 and do not have my license. I have had my permit since I have been 18. No one really seemed to care at first, but now my boyfriends family keeps badgering me about it. I feel like a complete loser. Is it normal? Is there some law that you have to drive right away?! I do want to drive but in my own time....Help me....I feel like I am alone!