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Do I need to pass the theory test before starting my lessons?

No. You can if you wish, but most people find it beneficial to practice for the Theory test as they are taking their driving lessons. Seeing things in practice helps the process of understanding the thinking behind the theory aspect.

Will I be asked any theory questions at the end of my driving test?

No. With the introduction of the Theory Test this is no longer done. You will however be asked 2 basic car maintenance questions before you set off on your drive. This is the 'show me/tell me' part of the test.

Should I take extra practice with a friend or relative?

The basic answer to this question is yes. There is no substitute for experience. The more practice you get, the better. However, you should try to find someone who is both patient and calm in nature.
They must also be over the age of 21 and have held a full valid UK car licence for at least 3 years.
You should also be aware that learning with a friend or relative means you risk picking up their bad driving habits.
Most people find it beneficial to get a few lessons under their belt first to build confidence. You must also ensure that you have the correct motor insurance, and display L-plates whenever you are driving.