How to resolve “No p element in scope but a p end tag seen” error in W3C Validation?

That’s because you are nesting a block level element inside the p tag which is invalid. You can only nest inline elements such as span, a and img inside p tag. So your markup is invalid, consider making something like

<div class="inr_content clearfix">
   <div class="col2 first fl">
      <p>to provide a drive-in services.</p>
   </div>
   <div class="col2 last fr">
      <p>to provide a drive-in services.</p>
   </div>
</div>

From W3C^[1] :

The P element represents a paragraph. It cannot contain block-level
elements (including P itself).

^{1 – Reference}