I am peeing and I am bleeding from my penis. It happened when I had to pee really bad, but I was driving and had to wait until I got home. I got home and could hardly wait almost peeing on myself. I managed to pee and right away saw blood coming out of my penis with the feeling that I have busted a blood vessel in my penis. It burnt a lot.

First off, let me start by saying you should most definitely talk to your doctor about this. You should never take medical advice off the internet over seeing your doctor and having them give you an expert diagnosis.

That being said, it sounds kind of like you may have a kidney stone. Kidney stones can sometimes have sharp edges that can cause blood in the urine. The cuts you receive from the stone as it bounces around, or passes through the urethra are where the burning sensation comes from.