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My daughter has her restricted license. Can she pick us up and drive us home if we have been drinking?

Hi there,
Here is an example of the rule.
To keep you safe while you’re still learning, there are some conditions you must follow while on your restricted licence:
•Between 5am and 10pm your daughter can drive on her own.
•If she is driving on her own during this period without a supervisor, she can only take a passenger if they are:
◦her spouse or partner (for example the person she lives with as if married or in a civil union)
◦a child who is financially dependent on her or her spouse (for example she is their parent or guardian)
◦her parent or guardian
◦relatives that live with her and are on a social security benefit
◦someone she looks after as their primary caregiver.
•Between 10pm and 5am your daughter can only drive if she has a supervisor in the front passenger seat. The supervisor must meet the licensing requirements and be capable of driving if required.
In summary, it all depends on the time of day, before 10pm she can drive you home irrespective of your sobriety status (because you are a parent), after 10pm a sober qualified supervisor is required.
Information can be found here: http://www.nzta.govt.nz/driver-licences/getting-a-licence/licences-by-vehicle-type/cars/restricted-licence-2/restricted-licence-conditions/