I let this hold me up a lot in HS too. In retrospect I should have gotten either a friend that is older and had a car (social proof) to drive, or if you live in a city with decent transit, there is NOTHING WRONG WITH TRANSIT, or if you don't have either of those options, then just bite the bullet and get your parents to drive you to places that you can't walk to. Everyone has parents, so just make sure you let your parents know not to be douchebags and fuck up your game (in a nice manner of course) and if they do do anything stupid, then you have an easy icebreaker when you get out of the car, "Ugg, parents eh?

"
Make sure if you are getting a ride, to sit in the back seat with her, otherwise it is just awkward. That way you can also make jokes about anything your parents might say as well and can build great EC.