The Big Bang Theory Episode 2.05 The Euclid Alternative

Leonard needs to work nights, leaving Sheldon without a ride to or from work. He asks Penny, then Wolowitz, then Koothrappali, but one way or another, he manages to annoy them to the point they won't drive him. Their answer is to stage an intervention -- convincing Sheldon to get his driver's license. The first hurdle is the learner's permit test; Sheldon thinks the questions are poorly phrased, and the DMV clerk is so annoyed with him, she hands him a permit. Since no one is willing to drive with him, they set up a simulator so he can practice driving. It's a disaster and clearly Sheldon isn't cut out to drive.