Rules are different in most states so to get more accurate info i suggest you let everyone know what state the rego is in .

Sorry to hear about your wife's ill health. I recall when I bought my first van it had Victorian registration and I was given a certificate from the dealer to bring it into NSw where I took it to a registered inspection centre and obtained a pink slip and then had it registered in NSW.

With my current van, when it was five years old, I took it to a registered inspection centre, obtained the pink slip and did the same. The inspection stations are all on the net. Just type in inspection centres on google and you will get them all in your area. Depending on the weight of the van, some centres are only registered to do certain types and then it is a heavy vehicle inspection centre you need. My van only weighs about 2.2 tonnes so I get the ordinary inspection which costs about $30 from memory. Then just toddle off to the service place or you can do the registration process onlline as the inspection centre electronically sends a copy straight away to the RTA.

If you are planning to take the van to Qld to sell then unless it is out of registration you go there and they will give you their procedure. I think you have to have an inspection done before you can sell in Qld but dont quote me on that one.

The inspection is mainly a bit of tyre kicking and checking of lights from my recollection.

Hope things go smoothly for you and your wife. 

Wizard, You will require to obtain a inspection slip www.service.nsw.gov.au at any authorised inspection station/service centre. 
You will need to provide your ID, Current rego papers and of course the vehicle must be totally roadworthy (Including tyres in date).

-- Edited by Possum3 on Sunday 2nd of February 2020 02:19:21 PM

Thank you 'Belmont Bear', the caravan is registered and I just looked up the RTA on site inspection places and found one in Campbelltown...I will see how I go with that, thanks again.

Vehicle design rule applicable www.legislation.gov.au/Details/F2007L02383. Generally tyres must be in good condition under ten years old, and rated to suit the vehicle they are fitted to.
I apologise that I misread the original post as currently un registered - that is why I said Blue slip required (I have amended my post).