The service, which is expected to be up and running within the next couple of weeks, allows customers to order their shopping at Tesco.com and, by selecting the 'click and collect' option, to pick up their shopping up within a two-hour period from a delivery van parked in the store car park. It will cost £2 compared with £3 minimum for home deliveries.
The Baldock Extra launched the option online on Monday evening and by Wednesday a "handful" of customers had used the service, said Tesco.
The innovation marks a first for the UK grocery sector and follows similar schemes in the US and Europe that target busy families. If the trial is successful, Tesco will consider introducing drive-thrus to further sites.