First ensure that the model that you have imported car does not have that capability already.  Most model makers have functions that turn wheels, open and close doors, hoods, and trunks etc. 

Another thing you could do, import a ball, reduce it in size and if you grouped all the stuff that is part of the wheels, fine the pivot point of the wheel assembly, then parent the wheel assembly group to the ball, then determine which axis of the ball rotates (probably the Y axis) the wheels in the proper direction.  Then in the ball settings place limits on how far the ball rotates.  Finally rename the ball and call it say wheel pivot, then make the ball invisible. Method is good for opening windows, doors etc.

If there is no connection between the two wheels, then make balls for each of the wheels and do the same as above.

Hardest part is finding the pivot point for the wheels.   Jan