Can I be taught to drive in a taxi in Manhattan?

Ok so I'm 18, I live in Manhattan, and I have a regular class D learners permit. My dad has a CDL class B licence and a taxi licence. He owns a black Honda CRV but has taxi plates on the car in order to drive for Uber. I know that if I had my full licence that I could not drive the car on my own without a taxi licence. My question is am I legally allowed to drive the car if my dad with the taxi licence was in the car with me? Just in case no this is not to pick up customers and get around the taxi and limousine commission but for regular use like going to the store or on a trip upstate.

I would ask the State DMV.

Unfortunately your wrong on many levels.

1. Don't need Taxi plates to drive for Uber. Ubers are NOT Taxi's. They are clever ways of getting around the Hackney system which will end soon.

2. You can drive his "Taxi" all you want. What you CAN'T do, is pick up a passenger. As long as your father is with you your not different than any other person driving a car on a permit.