first study the drivers manual which you can get in the library (you just really have to read it once and know the alcohol part, its not a hard test)
then bring one form of identification that proves your date of birth (e.g. birth certificate, passport) ,social security card, and other ids that add up to 4 point with your ss card(see dmv website for points) to a dmv(there’s one on route 202 in haverstraw).
at the dmv fill out a form, take an eye test, pass a written test on the drivers manual, and pay a 90 dollar fee, and you have your permit!
congats!