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No. With a learner's permit, teens may only drive with a licensed driver who is at least 21 years old, or a licensed spouse or guardian who is at 18 least years old, sitting in the front seat. Between 11 p.m. and 5 a.m., the teen must be supervised by a licensed parent, guardian, or spouse.
http://teendriving.aaa.com/PA/supervised-driving/licensing-and-state-laws/

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