Online:

http://www.lernu.net

Book:

Use a book like "The Esperanto Teacher" by Mason Stuttard which fits into the pocket. 10 minutes every day will have you speaking in no time.

Training Course:

Contact one of the clubs or email: nsw @ esperanto.org.au

Correspondance course:

http://kurso.esperanto.org.au/

Travelling:

Use the travel service and stay with Esperantists. You need to know a few basics first.