To bring your domestic helper to travel with you to Australia, you need to apply temporary work visa for her (visa Subclass 400 and form 1400). Please refer to this website, for the forms and checklist. http://www.vfsglobal.com/australia/singapore/temporarywork_short_stay.html Updated on 27 Feb 2019: Since last year, you are able to apply online from Australia Home of Affairs. https://immi.homeaffairs.gov.au/visas/getting-a-visa/visa-finder/visit But biometric still needs to go to VFS global.