I'm a huge car guy, and as such I LOVE driving in it's proper context. I think a lot of the reasons that people "hate driving" are caused by out-of-context driving on a regular basis.
Before I continue on rambling, let me make this point clear: I love cars as an art form. I don't push for people to drive because I think it's necessarily the most amazing experience they'll ever have, I do it to keep the concept of personal and customizable transport alive. A Triumph TR6 is beautiful. A public transit bus is boring at best. Let's not turn our roadways into communist states.
So, without further ado, I give you my checklist for the proper way to drive:
1. The car itself. First off, the average driver needs to know more about their vehicle. Is it Front Wheel, Rear Wheel, or All Wheel Drive? Front wheel, whilst by far the least safe, efficient, or fun, is also sadly the most popular by a wide margin. This should not be the case, but thanks to uneducated consumers and car conglomerates looking to cut costs, they are. The people that grow up with these vehicles around are far less likely to ever care about their own car, leading to a vicious cycle. Rear wheel drive is preferable for any form of spirited driving. Rare wheel drive cars range from the smallest Miata to the largest Bentley, but all share one similarity- they have a preferable feel to their Front Wheel drive competitors.
Another important part of the car side of the argument deals with the body style of car you drive. You will much more enjoy driving if you agree that you look good doing it. I can't tell you how much more of a treat it is to jump into my 2006 Mustang than it was to drive my -1995 Toyota Corolla sedan. If you think your car is part of the reason you aren't excited about driving anymore, buy something out of the norm. Go get yourself an E30 BMW or an F-Body Camaro if you're looking to get into something that's more fun off the road. If you're stuck in traffic, try something like an old Cadillac or Imperial as you'll find the added comfort of the all-leather seats to be a welcome addition to your commute. If you find yourself hauling lots of things or people, try any old station wagon or small pickup (I.e. 70s-90s Datsun, Toyota Chevy LUV, Ram 50, Subaru BRAT/Brumby), you'll be suprised how much fun you can cram into one.
Most importantly, I recommend you buy something old and cheap. You will have 10x the fun in an old "beater" of a car than you will in a shiny new model. More inside jokes, less hoots given about maintenance and potential damage. That adds up to lots and lots of good times and positive memories.
2. The Road. If you've never been out of the city to drive, seriously, go out and find yourself a quiet country road this weekend. I don't care where it is on a map, it will be pure nirvana from behind the wheel. Don't believe me, go and try it once. You've got nothing but some gas money and a few hours to lose but probably more than you'd think to gain.