Yes, you should always get a soil test before you add fertilizer or lime to a soil.
This is a link directions on taking a soil test. http://www.uky.edu/Ag/AnimalSciences/extension/pubpdfs/agr16.pdf
You can drop off the soil test at your local Extension Office. You can find your local office here. http://extension.ca.uky.edu/county/
Costs vary from county to County.