The direct action has been organised on social network sites, where women have been posting images and videos of themselves behind the wheel.
The Women2Drive Facebook page said the direct action would continue until a royal decree reversed the ban.
Last month, a woman was arrested after uploading a video of herself driving.
Manal al-Sherif was accused of "besmirching the kingdom's reputation abroad and stirring up public opinion", but was released after 10 days having promised not to drive again.
Campaigners have not called for a mass protest - which would be illegal - but have asked women who have foreign driving licences to drive themselves as they go about their daily life.
"All that we need is to run our errands without depending on drivers," said one woman in the first film posted in the early hours of Friday morning.
The film showed the unnamed woman talking as she drove to a supermarket and parking.
"It is not out of love for driving or traffic or the experience. All this is about is that if I wanted to go to work, I can go. If I needed something I can go and get it."I think that society is ready to welcome us."
Another protester said she drove around the streets of Riyadh for 45 minutes "to make a point".
"I took it directly to the streets of the capital," said Maha al-Qahtani, a computer specialist at the Ministry of Education.
Religious fatwaOn Twitter, Mrs Qahtani described the route she had taken around the city with her husband, saying: "I decided that the car for today is mine."
Her husband said she was carrying her essential belongings with her and was "ready to go to prison without fear", AFP news agency reported.
One woman who asked not to be named told the BBC driving was often considered to be "something really minor".
The ban is one of a number of restrictions Saudi women face in daily life "It's not one of your major rights. But we tell them that even if you give us all the basic and big rights, that you are claiming are more important than driving, we can't enjoy practising those rights because the mobility is not there.
"We can't move around without a male."
The motoring ban is not enforced by law, but is a religious fatwa imposed by conservative Muslim clerics. It is one of a number of severe restrictions on women in the country.
Supporters of the ban say it protects women and relieves them of the obligation to drive, while also preventing them from leaving home unescorted or travelling with an unrelated male.
But the men and women behind the campaign - emboldened by uprisings across the Middle East and Arab world - say they hope the ban will be lifted and that other reforms will follow.
Amnesty International has said the Saudi authorities "must stop treating women as second-class citizens", describing the ban as "an immense barrier to their freedom of movement".
The last mass protest against the ban took place in 1990, when a group of 47 women were arrested for driving and severely punished - many subsequently lost their jobs.
The women were angered that female US soldiers based in the kingdom could drive freely while they could not.
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