You can book your restricted licence test:
List of driver licensing agents
The test will take about an hour all-up.
It will cost $167.50. You have to pay this when you apply for your restricted licence or book the test online (not when you go to sit the test itself).
Your application fee includes your first restricted licence test, and a second test if you need it. If you need 3 restricted tests or more before you pass, you have to pay $102.80 each time.
You can book your test before you apply for your restricted licence. But you have to apply for your licence before you sit your test.
Apply for your licence