In this study, a virtual driving training system was developed; it allowed people with lower limb disabilities to practice driving. The effectiveness of the virtual driving training system in people with lower limb disabilities and adults without disability was evaluated. Nine people with lower limb disabilities (group A) and 10 adults without disability (group B) were invited to participate in a 10-h virtual driving training program. A virtual driving license examination was conducted before and after the training program to evaluate whether the system was effective. The results indicated that the driving performance of the two groups improved after the training program. Both groups opined that driving had become easy after using the system. However, group A performed better after training than group B. Thus, people with disability require more driving practice than people without disability.