The oil and gas companies will buy from whoever can offer it to them at the lowest price. If the domestic producers can undercut OPEC (which they ought to be able to do), than that will naturally drive down the cost of crude. Domestic drilling also has a natural advantage because the cost of transportation is much lower. Additionally, it puts money in the pocket of everyday people via royalties, rentals, signing bonuses, etc. The major effect needed for gasoline prices to lower is for the economy to come back to life, which can be done by making crude oil cheaper. Once the economy turns around, gasoline consumption goes up, making it cost effective to sell here because they will make more money due to volume sold instead of price per unit.
I'm not suggesting that the government force anyone to do anything. Quite the opposite.