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Yes, but it's best to kill off the grass with solarization and remove the dead plant matter before laying down the pavers. This helps limit the chance of your pavers shifting as the dead plant matter decomposes.

You can pour concrete over asphalt if it’s in good condition, thick, stable, and well-compacted. Concrete is more durable than asphalt and can extend the lifetime of your driveway without having to pay frequent asphalt driveway repair costs or replace it completely. 

But this is best reserved as a temporary solution based on budget restraints, as asphalt requires more frequent repairs and assessments than concrete. Once that concrete top is poured, it’ll be harder to accurately understand what’s happening beneath that layer, which could lead to more issues.

A driveway's lifespan varies by material. Asphalt driveways typically last 15 to 30 years, while concrete driveways last longer, between 20 and 50 years. The longevity of any driveway is affected by factors like extreme temperatures, heavy traffic, and the quality of maintenance. Regular upkeep, such as filling cracks, resealing the surface, and ensuring proper drainage, can help extend its life. For gravel driveways, regrading to fill in uneven areas every year or two is recommended.

Although you could try to lay stepping stones directly over grass, which speeds up the installation process significantly, this method often leads to a poor result over time. Even heavy paver stones will eventually slide or shift on top of the grass. Digging into the ground and following the steps we listed is the best way to lay stepping stones for a long-lasting result.