As far as I know, from the Man (who used to train people to drive trucks, and so is very well versed in road law, even if he doesn't always follow it.... ), you are not allowed to reverse out of your driveway, as visibility up and down the footpath for pedestrians is much less than if you were driving out forwards, as well as the visibility of the road. So, yes, you are supposed to reverse into your driveway, and drive out on to the road forwards.
Getting further technical on reversing into a driveway, you are not supposed to reverse off your left side (ie, turning towards the passenger side of the vehicle). So this means, that you are supposed to pull up to the kerb on the wrong side of the road, and reverse into the driveway off the driver's side. I get to do this at my place, because our street is quiet, but somewhat impossible on major roads.... This rule is why you will see trucks pull out wide across a road to reverse in off the driver's side. The reversing off your left side rule isn't enforced in cars, but important in trucks where visibility is so much more limited (so next time you see a truck trying to pull out across the road to reverse into a loading bay or driveway, please stop and let them go :) ).
I wouldn't want to try the "I'm not liable because I reversed out of my driveway into your vehicle" trick though.