I think that your best bet would be to find a driving association near you and just spend some time with the people that are members. Learning how to harness and unharness the horses. Learning the ins and outs of driving single and teams. Learning how to handle them and the cues used. Driving is a lot of fun, though I haven't done it consistently in several years (mostly mule teams when I was growing up). I hope you are able to find somewhere to get involved. It can open up whole new possibilities for horsemanship that go down completely different paths than riding.