Started at 10 years of age. Used to drive on the way home for a km or so from PAF College E9 from the college to the main gate, where my father used to take over. Then we (myself and brothers) used to drive in E10. All under father's supervision of course.
The first time I actually drove alone was when I was 16, that too only errands around the house. Used to take the longest route back home. Parents didn't say anything, but they new from the starry look in my eyes that I had been to a bit of mischief (If you can call driving for fun, mischief)
Even now, I enjoy a nice slow drive in the evening with family, friends, or at anytime, alone with a good soundtrack.