Don’t feel that because you are a minor that you are required to let your parents make you do illegal things. It is okay in some circumstances to refuse to do what they tell you.
I say that because JRKH’s post reminds me that the reason I would have been asking your question on a forum would be because my parents would have found it convenient to make me drive into town to runs errands and I would be here trying to find out which was the sin, driving or refusing.
And no, I’m not saying it would be a sin to drive if they are pressuring you. It depends on a lot of factors. I’m just posting to say that one does not always have to do what they tell you when they want you to break the law,