Do I need to be the on insurance for my dps drivers test or does the car just need to covers in Texas For my first license I already have permit?

You should not have to be listed on the policy as a driver in order to take the driving test. Most insurance companies do not charge a premium for a person with a learners permit. Your parents should make sure that they have notified the insurance agent that you have a permit and give them the information like your permit number. After you pass the driving test and receive a permanent drivers license, they really should add you as a driver immediately so that you are covered should anything happen while you are driving the car.