Depends on what class licence you want, and what endorsements. The most broad, sweeping answer is to attend a truck driving school - most community colleges have such a programme, as do several trucking companies (Swift, Schneider, Werner, USXpress, Knight, C.R. England, etc).
The biggest thing which makes this the most feasible option is that you'll have to have a test vehicle available to you. Without have upgraded your regular Class C licence to a permit (it would read something like CPB for a permit for Class B testing, or CPA for Class A testing), you're not even supposed to enter a commercial vehicle, unless you get a company approved passenger permit.
Some jobs may provide you with all you need for a CDL. For example, if you're driving a one ton pickup carrying welding gases, you'll only need a Class C CDL with HazMat endorsement.
If you're going for a passenger endorsement with any class licence, you'll also need a test vehicle.
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A CDL is a commercial drivers license and is only necessary if the vehicle to be driven meets one or more of these criteria, used to transport hazardous waste, any commercial vehicle with a Gross Vehicle Weight Rating of 26,001LBs or more, or that it carries 16 or more passengers(driver included).
The license needed to drive a commercial van may depend on the state you are residing in. To find out if you need a special license check the department of motor vehicle website in the state that the license is to be obtained in.
Yes you do need a cdl for a job as a UPS driver. A CDL license is a commercial drivers license and since a UPS driver drives a commercial vehicle on public roads the driver does need this specialized license.
A commercial drivers license (cdl) is very different from a regular driving license. In order to obtain a cld you must pass rigorous testing including inspection and knowledge of a commercial vehicle.
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Getting a commercial drivers license is no more difficult that getting a regular drivers license. To get one you have to pass a knowledge and skills test that consist of written, driven, and vehicle inspection. They offer schools to aid you in the preparation of these tests.