Advice on starting Agility?

Okay, so Cookie can't do Agility, but my other dog can. I have a beginner's Agility kit and we practice in the backyard.
I would sign up for lessons, but my dad won't let us do that due to money circumstances.
How do we get started in Agility competition? I realize that Treader has to know all of the equipment first and be reliable off leash (which may take a while), but that's about it.