Can you legally drive someone else's car if you are not on their insurance?

-If you're a teen and have your learners permit (in Florida), can you drive your parent's car (with your parent in the car) if you are not on their insurance, but the car is insured to them?Yes you can, as long as your parent is with you and they have insurance.
yes u can as long as its your parent sittin shotgun and not one of ur homeboys