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.
