The easiest way to solve this one is to find the total number of arrangements and then subtract the arrangements that violate the constraint.
If the mother drives, there are 4 remaining people for 4 seats. 4!=24. We can swap the mother and father in each of these; 24*2=48 total arrangements.
How do we violate the constraint? Have the two daughters sit next to each other. This must happen in the back seat, and it can occur in two ways:
D-D-X
X-D-D
However, each daughter is unique, so we actually have:
D1-D2-X
D2-D1-X
X-D1-D2
X-D2-D1
Let's consider the first one: D1-D2-X. We have two options for the driver's seat (M/F), two options for the other front seat(son and parent that's not driving), and one option for the other back seat, for a total of 4 arrangements.
Each of the backseat options we identified has 4 arrangements, so 4*4=16 invalid arrangements.
48-16=32 valid arrangements.