using car type (ackerman) steering or tank (diferential) steering?
if using a remote (transmitter), and a receiver made for rc cars, you won't need any software.
also the servos will plug into the receiver, but will have limited motion, unless you mod them.
my advice- get the transmitter, receiver, and ESC (electronic speed controller) and a motor.
if using ackerman steering also get a servo.
if using tank like, get 2 ESC and 2 motors