First Driving Lesson

I had my first driving lesson last week in an automatic, had never driven a car before then. I booked it with one of those off road campuses as I was extremely nervous and didn't want to start on the actual road with traffic right away. Well I did about 20 minutes on the grounds and she decided to bring me outside it. I was doing well so thought the country roads would be quiet and I would be fine, within 2 minutes she had me drive onto the dual carriageway. I was terrified and was going to say no but she started telling me to accelerate and I felt I had no choice. It was one of the most scary experiences and I burst into tears once I came home. My steering was so bad as I was shaking so much in fear going at 70mph with lorries speeding past. I hadn't even been told about mirror checks or anything at that point. It has really thrown me off and I don't know about continuing. Is this normal for a first lesson and do you have any advice on what I should do moving forward to make me more comfortable? Thanks