The session is most likely just your cookie. So to convert to carry your session over to Selenium webdriver you need to set cookies of scrapy requests to selenium.
Scrapy is smart enough to keep track of cookies by itself you can find the cookies of the current request in response.headers.
Then you can set those cookies for your webdriver:
driver.add_cookie({'name': 'foo', 'domain': 'bar'})
You can convert response.headers['Set-Cookie'] to a dictionary using dict comprehension like:
import re
foo = response.headers['Set-Cookie']
values = {k.strip():v for k,v in re.findall(r'(.*?)=(.*?);', foo)}
driver.add_cookie(values)
Note: some websites can use more complicated sessions that also require other headers to match, but you can also replicated that by copying your scrapy response headers to your selenium webdriver.