How do I fill out my taxes myself with a 1099-MISC form as a courier/ driver?

I'm a medical courier and apparently considered a self employed/ contractor. I deliver medical goods using my own personal car. I was always told that mileage is better than expenses so I'm going with miles I drove. Last year I made $36,173.32, according to my 1099 and have logged a total mileage for work as 56,770 miles. I hope I don't have to pay out since they don't withhold taxes for my job. My spouse works for the same company and made $19,415.03 and logged 28,860 miles. Any information would be helpful on if we would likely break even with our mileage or any other means on filling out the 1099-misc form. Thanks in advance and I will select a top answer!