Simply put - as said earlier you need to be in receipt of the mobility (getting around) element of the Disabled Living Allowance (DLA) or PIP. You then use that element to ‘hire’ a car for a 3 year period from a garage included in the scheme operated by Motability - which is the UK’s biggest vehicle hire company. The Motability website has a list of vehicles and costs - most have a fairly substantial down payment (I’m paying £1K+ for DD2’s next Mini - already a year overdue because of a parts shortage) and needs all her DLA payment, which is paid to Motability direct. Obviously, if the disabled hirer is to drive, they must be mentally and physically competent - disability aids can be bought and installed and as sure as they can be that their ability will remain so for the entire hire period.
You can still get a car and nominate someone to drive you around (rules apply) e.g. as a parent would for a disabled child. Certain insurance conditions apply to nominated drivers.
One of the advantages for the disabled driver is that the insurance is included, which could be prohibitive for certain disabilities and some vehicles can be adapted so people can even drive from their wheelchair.
The DLA/PIP can be used to get a car, a scooter or a powered wheelchair - but not all. Many of those who qualify get the payment and use that for taxis or buy their own cars, if they’ve weighed up that’s the best option for them.