Are you looking at purchasing a vehicle and want it inspected prior to purchase? Or do you need an inspection for vehicle emissions?
I'm not sure what your level of mechanical ability is, but I think I would take it to your local garage and tell them you would like a vehicle inspection prior to purchase, assuming you are getting ready to purchase this vehicle. Make sure they get it up on a lift for an under vehicle inspection. Pull the at least 2 wheels, front and back, for a brake inspection. Look at the brake lines, check for fluid leaks; oil, coolant, brake fluid, transmission, rear diff, etc... Look at the steering linkage, tire wear, shocks, frame rot, among many other things too numerous to mention. They may also let you look too, if you ask.
Make sure everything on the inside is functional; power windows, door locks, cruise, A/C control panel (that includes heat, a/c, mode operation (defrost, panel vents, floor)), power seats, power antenna, rear door operates as designed (assuming a wagon), rear wiper, front w/s wipers, w/s washer, speedo, gauges, power mirrors, etc... You get the picture.
Also, I'm sure there will be a nominal charge for their time. You can do some of this prior to getting to the garage to minimize your time spent there. Hope this helps.