Your dad is correct in that every driver gets into an accident at one point or another. You have your license, which means you passed the test. And while the test is the bare minimum, you did meet it.

Every driver starts out new, and has to learn a lot. It can take years before you are truly comfortable, and that’s OK.

My recommendation would be to not give up driving cold turkey, but only drive when you are comfortable. Find an errand you need to run once or twice a week and do that route consistently. (Or, if you are working, do your work commute by a consistent route every day). Learn that route, and where all the tricky things are. You may find that after a month or two, you build enough confidence on that one drive that you are not spooked by other drives.