No, you can't charge your battery directly from a car battery, the voltage difference is too low for charging to occur.
Do a search,[link=http://www.google.com/search?q=charging+lead+acid+batteries&hl=en&lr=&cl ient=firefox-a&rls=org.mozilla:sv-SE
fficial&start=0&sa=N]Google search[/link], and you will find a ton of information about lead acid cell charging.
/Red B.