Insurance is a complicated issue and it varies by state.

Generally, though, no, you won’t have to pay anything.

If you live with others who drive and do have insurance, they may need to add you as an excluded driver on their policy to avoid affecting their rates, but that, again, varies by state, and also, insurance carrier. I would just talk to an agent in your state.

If you just want an ID, most states offer essentially an ID card that’s exactly like a license, but just the ID part. Might want to look into that, too.