You must use a scanner. Many places will clear codes for free. You should be aware however, that if the vehicle must pass OBD testing to get an emissions inspection, it will not pass until the vehicle has been driven long enough after clearing the codes for all of the readiness monitors to be completed. You can't just clear codes and head straight over to get your emissions test - if the monitors are incomplete, it will fail, regardless whether the check engine light is on or not.
Agreed with previous answers here.
Also, I would drive it about 60 miles.....about 3 days before taking it in for retesting as the systems will not be reset and ready for inspection until your vehicle computer get enough info to reset itself.
I would get a free scan at a local parts shop before taking it in for testing as they can tell you if the car is ready to be tested.
Cheers
Disconnect the Positive (or negative, it doesn't matter which) Cable from the Battery for a few minutes and then reconnect it. That should reset the ECM (Computer)
Or you can take it to your favorite Auto Parts Store, they clear codes for free with a Scan Tool. Depending on the Tool Loan policy they have (many stores will loan you tools with a safety deposit on the tool) you may be able to borrow the tool instead if you can't legally drive the van to the store.
Beware, removing the battery cable close to a vehicle inspection can lead to this problem:https://youtu.be/lZAyHVol8lM
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