An example of a chauffeur is a limousine driver. Do you pay someone to drive you? Then you have a private chauffeur. An example of a driver is taking a young couple to the movies because they are too young to have a driver's license. Chauffeur literally means steam engine operator in French, but they used it as a nickname for the first motorists who drove cars with steam engines.
If you are not booking a travel package, which includes a private chauffeur or tour guide, be sure to inform others of your whereabouts.