He soon learned to drive.或者He picked up driving soon.或者He picked up driving quickly.

pick up的意思有：捡起、接载、学会、逮捕。

例句：

We drove to the airport the next morning to pick up Susan.我们第二天早晨开车去机场接苏姗。

Where did you pick up your English?你在哪儿学的英语？

Anthony picked himself up and set off along the track.安东尼自己慢慢爬起来，又开始沿着跑道跑下去。