yes, pay a driving instructor

Get someone you don't care for that much to do it.

Get someone else to teach lol my brother is learning and he just wrecked my mom's van into a gas station. Now I adamantly refuse to drive with him lol

Start in empty parking lots

Have a friend teach him. Less stress for all involved.

Just do it. Hamd him the keys and jump into the passenger seat. It won't be as bad as you're thinking. I learned that way and it's how I taught my son.

Teach them to drive a stick shift.

We started in large parking lots just getting the feel of driving, moved up to quiet wider residential streets or out in the country for a while, then to more standard roads off peak hours.
Parking was the worst for my nerves - we started with empty lot and folding chairs to get an obstical feel in adjacent spaces.
Then off to drivers ed for polish.

Being affraid is not going to help and your teen will drive anyways. Think about that. Let it sink. Then you need to spend time on important things like no texting while driving, no friends tagging along (even when learner's permit explicitly says that)...things like that. In other words, you are not teaching him how to operate a vehicle, you are teaching him how not to get in trouble, kill himself or even worst, kill somebody else. Most accidents are preventable, that's what young drivers need to know/learn

Send him on a crashigh course with a qualified instructor or get a cheap set of dual controls

You could take him to parking lots when the stores are closed, with late at night or holidays. That way he could get experience safely. Then you may feel like he’s ready for the open road

just assume they will crash, plan to deal with that outcome

I taught my kids the rudiments, but they got professional lessons also. We used empty parking lots quite a bit at first. I don't think I was ever really scared.

I taught my kids to drive on our Kentucky family farm when my daughter was eight and my son was 11, avoiding the surly, rebellious teen stage, when they were still young enough to be willing to do anything to drive.

I knew that they'd probably steal the car for joy riding long before they were officially old enough to drive and I preferred they could drive safely. I did the same with swimming..they could swim like fish when toddlers.

I made a game out it; I laid a newspaper section in the driveway and the first thing they had to do was to stop the old Oldsmobile with any wheel I designated, in the middle of the paper.

After a week or so of practice they could both do this with ease, so next they had to drive zig-zag around traffic cones in the long driveway. Then they had to back the car through the cones, stopping and starting smoothly when told.

Next, I let them take turns driving up the long holler road that ran beside our farm and up a steep gravel slope to a remote farm pond where we went swimming in summer. I'd have them start and stop the car on the slope without spinning the wheels in the gravel.

By the end of that summer both those kids were experts, since we practiced daily for at least an hour and they were eager to do it, at that age.

Prozac!

Give them a bike!

Someone already commented what I was going to say. Have someone else do it. Friend, relative or hire someone. It will be worth it for both of you

Take him to an empty parking lot the first couple of times

I just did it myself for my 16YO daughter. This is my second go-round. I have a 25YO son too. With my daughter, our first behind the wheel session was in a confined space, a residential loop. She drove around in one direction for a few laps, then reversed direction. This gave her a feel for the car, and for making turns. You can practice braking and acceleration in that scenario too. If you don't have a loop like that available, find an empty parking lot. When you finally go out on the surface streets, be calm. Your anxiety will not help anything. I coached my kid through every action the first few times. Forecasted every turn, gave running (calm) commentary about her lane position and following distance. I know you'll be scared shitless, but you must present a calm demeanor. I think that helps more than anything else. Your kid is already tense and excited at the prospect of driving. You don't want to make the experience any more tense than it already is. Hope this helps. =]