How do I stop drifting into the other lane and keep my car centered?

I have this problem whenever I drive--I can't seem to keep my car in the middle of the lane. It either starts drifting towards the right most of the time. This is definitely not safe but I can't seem to stop until someone else points it out and makes me aware, this forces me to tilt my wheel to correct it which makes my car a little jerky (and scares passengers).... I have my mirrors positioned correctly to keep me from driving over either the left or right lane dividers but I still have this issue. I don't drive often but when I do this is a constant.

Edit cuz some of you think im letting my car drift all over the road - this does not happen, i stay within my lane BUT the car goes near the other but NEVER over. I received enough suggestions that I will use to improve my driving so thank you.