“You drive”.

LORELAI: I’m okay. I just . . . do I look shorter? ‘Cause I feel shorter.
RORY: Hey, how ’bout I buy you a cup of coffee?
LORELAI: Oh, yeah. You drive, though, okay, ’cause I don’t think my feet will reach the pedals.

In Connecticut, Rory would not be eligible to apply for her learner’s permit until she turned sixteen. This is still at least a month away, so it wouldn’t be legal for Rory to drive her mother home even under parental supervision.