Currently wrapping up my eldest's permit (we're getting ready to go practice parallel parking right now).

To start, we did school parking lots, someone else recommended Donaldson. Let them get the feel of the car and the ratio of turning the wheel.

After that, we found a quiet residential neighborhood, preferably one without a lot of people who park on the street. Keep it under 20, practice some stop signs and turns. Walden Woods would probably fit the bill for this.

Then we did a secondary road with a limit of 35 without a lot of traffic. In your area, maybe Oakdale Rd. Once they have that down, something faster like McKee Rd.

Then an "easy" highway. 22/30 away from Robinson would probably be good. Eventually graduating to a real interstate, I had him drive us up to Erie to visit my parents this summer.

For me there were 2 big "tests" once I felt he was ready that he needed to pass for me :

1. Robinson on the weekend

2. Inbound and outbound Parkway (376 to 279)

If you can negotiate those, you can do anything.