It's pretty simple. Go to any DMV office which offers the escort driver certification test, and once there, complete the form MV-65 for Vehicle Driver Application.
Ok, thanks. Similar to before, could you tell me what should i do if i possess a escort driver license issued in another state?
Well, in a similar fashion to the license you asked before, you must bring  that valid license and any additional identification to the DMV. Before you go, check DMV Document Guide for more information.