It depends on what look you are going for...
If you want the bricks to look nice and neat and square and not get "bumpy" you need to dig down about 2" below the level of the bricks and lay a nice bed of sand. Depending on the soil you may want to go down 3 inches, lay 1" of pea gravel, and 2" of sand.
Then place the bricks (don't use real bricks, buy pavers) neatly along the driveway.
Pavers usually have little ridges that make placement easy. You put them right next to each other but it allows just a little bit of space for the fill to get in there.
When they're down you tamp them in place.
Then you pour sand over the bricks, sweep it back and forth (fills in the cracks), tamp, sweep, tamp, sweep, etc...
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