The DMV is preparing to issue licenses to undocumented immigrants. You can already schedule your appointment with the DMV: http://www.dmv.ca.gov/portal/dmv/detail/portal/foa/welcome?localeName=en
For more info, see the following article:
http://losangeles.cbslocal.com/2014/11/12/california-dmv-expands-office-hours-to-accomodate-licenses-to-undocumented-immigrants/