© 2019 Institute of Control, Robotics and Systems - ICROS. Recently, welfare vehicles are widely used among the aged. However, it is not easy for inexperienced beginners to control the welfare vehicle in narrow places such as elevators and corridors. For these problems, the driving assistant system has been proposed in which the virtual vehicle can be projected on Head Mounted Display (HMD) and the virtual vehicle is remotely controlled by a pseudo objective viewpoint so that the user drives easily on the complex courses. However, it is difficult for beginners to drive the virtual vehicles smoothly. The well-suited instruction for beginners is necessary by the instructors, but the virtual vehicle is invisible because it is controlled in Augmented Reality (AR) world. In this paper, the driving instruction and training system using the sharing system of AR is proposed. The experience is shared by the vehicle user and the instructor wearing the HMD. In AR space, the instructor gives the appropriate directions and the vehicle user drives avoiding virtual items. The effectiveness of the proposed system is evaluated by experiments.