Usually each state publishes a Rules of the Road booklet that is available wherever you would get a driver's license. That's the best guide I can think of to help someone learn what they need to.
I talk to my kids about the laws pertaining to the road often when we are out driving. By the time they are old enough to drive, they pretty much know already. What they didn't get from that, they learn in the manual. :smile:
I have but it's really, really hard. I don't know how to go about it the right way because I always feel like I'm missing something. I prefer a professional to do it, personally.