If you have good hand function but poor leg function you will need to use hand controls to drive. This will take a bit of getting used to, the first time I drove with hand controls my wife needed a bottle of wine. You will get the hang of it, driving at speed on a normal road, duel carriageway or motorway is the easy bit. Junctions and roundabouts and parking are the tricky bits, to start with you may find the controls a bit sensitive and do a good impression of a kangaroo.
Perseverance and practice is key to driving with hand controls,