There must be a family member of at least 18 with a registered drivers license in the passengers seat, or a non-family member of the age of 21 with a legal license. You may have immediate family members as passengers. After having the drivers permit for 6 or more months you may have passengers but must have a supervisor in the passengers seat unless permission is granted by parent/guardian.
This rules applies to states with a minimum age of 15 as the permit clause states:
Alabama, Colorado, Florida, Georgia, Illinois, Indiana, Maine, Minnesota, Mississippi, Missouri, Nebraska, New Mexico, North Carolina, Oregon, Tennessee, Texas, Utah, Vermont, Washington, and West Virginia
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