Ok...I like doing things in steps so....

Step1: Get your drive up to 3 (you must have more than 3 bars of drive though)

Step2: When you have done this go into Wisdom or Valor

Step3: Head to a save point (one that a gummi ship can get to)

Step4: still in your drive form go onto the save point and go to world map :)

Step5: choose any other world

Step6: When you get there your drive will be filled! Happy Driving!