Yes, you can..so long as you meet the qualifications and you have all of the requisite paperwork in-hand. If so, they will administer an eye screening and a Driver's Knowledge Test. At that time, assuming you pass, they'll issue an initial Learner's Permit. There's a lot of detail, so here's a link to PennDOT's official explanation of the whole process.: goo.gl/xVvD9F
I was just there yesterday and it is a photo center only. You can’t take the permit test there.
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