Drive in a straight line. Pull directly into and out of your garage with the minimum amount of turning of your wheels.
Cover the driveway with plywood. Drive over the driveway and into the garage and remove the plywood. The plywood helps distribute the weight of the car, lessening the stress on the uncured concrete.
Drive at a steady rate of speed. Avoid quick acceleration or quickly putting on your brakes as this can cause your car to lurch, applying sudden and localized pressure to the uncured concrete.