Easy, take 17 to Charleston, then the right lane to I526, then follow signs for Georgetown which will put you back on 17. About 7 lights coming into town and about 8 more going out of town.
Shortly after you cross the bridge in Georgetown, you will make a right hand turn. As you make the turn, move to the left lane so you don't have to worry about the trees close to the edge of the road. Once you hit the open after about 8 blocks, you can then move to the right lane.
17 is only a tad bit slower if I95 is free flowing. One traffic jam on I95 makes 17 faster.