In the United States and most of the European countries, you must get an appointment online to test your driving skills with authority.
For scheduling the test, most of the states require the applicant to submit some documents like learner license for young applicants, knowledge test certificate, proof of driving education, etc. So, go to your local motor vehicle authority website, read their regulations and prepare the documents as per requirements.
While some websites contain enough information to get started without visiting them, you may need to visit the motor vehicle department office to get to know details about the process.