You will need lessons or you will need ot know what the inspectors are looking for.
If you have been driving around with other people you could have easily developed bad habits (the way you pass the wheel through your hands, not covering the clutch, holding the gear stick too long, not showing that you are using your mirrors enough...that one is very easy to fail on..you can use mirrors without moving your head but the examinor needs to know you are using them)