It will depend upon state laws and insurance company guidelines if a 16 year old will need insurance to drive with just a learner's permit. You may not need insurance in your own name, or need to be added as a driver on your parent's policy yet, but will probably need to be covered by insurance at least the insurance already on a car when learning to drive in your parent's or another person's vehicle.

Since with a permit you have several restrictions, usually including that you can only drive with a fully licensed driver, many insurance companies will cover you without needing to add you to the policy at this point. Once you do receive your license though to be properly covered it is normally required that you then are added as a driver to your parent's policy.

To find out what your state requires check with the DMV and/or the Department of Insurance for your state. To see what your parent's specific insurance provider requires either contact them yourself or with your parents. The agent should be able to tell you if you are covered with your permit to drive without being added or if you must be placed on the policy at this point.