First, you need to bring your car to one of the designated test center by the Police, in my case I brought it to Wakra Test Center for the compulsary test others are in Industrial Area (sorry, don't know the exact location).

Second, after your car passed the test (counter signed by the police assigned in the area or let it be signed in the police station nearby) bring it along with you in going to your car insurance company for insurance renewal then after all this formalities...

Go to a Police Station / Liscensing/Registration Dept. (for me I went back to Wakra Police Station) with the Test Result (passed) and renewed car insurance. Then, upon submission of your documents they will process it immediately (for me it took only 10 min).

Fees : approx. 600QR all included (3rd party car insurance, test center, and registration card)