According to the Missouri Department of Revenue if you are a driver age 15 to 21, the Graduated Driver License (GDL) program applies to you.

Missouri's Graduated Driver License Law went into effect January 1, 2001. The law requires that all first-time drivers complete a period of driving with a licensed driver (with an instruction permit) followed by a period of restricted driving (with an intermediate license) before getting a full license.

The MO driver's manual states that with an instruction permit if you are under age 16, you may drive only when accompanied in the front seat by a parent, step parent, grandparent, legal guardian, or qualified driving instructor. If your parent, grandparent, or legal guardian is physically disabled, he or she may designate up to two persons to accompany you in the vehicle to provide behind-the-wheel instruction.

The manual goes on to say that for those age 16 or older, you may drive when accompanied in the front seat by a person who is at least 21 years old and has a valid driver license.

For drivers of all ages it is a condition of your graduated license that seat belts must be worn by the driver and all passengers.

To find out the restrictions and conditions specific to your learner or instructional permit in Missouri at your more mature age contact the MO DOR directly.