Steering a car in CoronaSDK

Having a bit on an issue, what I want to achieve is a car that is drivable with a D-Pad. I am attempting physics joints on all 4 corners of the "frame" of the car. Then each "wheel" is applied a force to move it forward and backwards. Simple enough I think, can't even get the wheels to stay attached. I weld them to it, but then it won't move.

Second, steering?! How on earth is this accomplished?

Thank you very much!!!!

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