How to apply for defensive driving course?

I got a citation for “not coming to a full stop” at a stop sign in Houston. I want to apply for defensive driving course. Never done this before so not sure where to start from.

Do you recommend going in or mailing the required documents? If going in is better can I go to any court before my court date or do I have to wait until my court date.

On the DSC form there is a section to plead guilty or no contest. Which one to choose when submitting these forms.

This is my first time and I want to get this over with any help is appreciated!