The process of importing vehicles into Oz is confusing (to put it mildly), we are a Federation of States so you have to deal with several layers of Government - Federal and State.
Step one is to get hold of an Import Approval from the Dept of Transport and Regional Affairs (DOTARS) http://www.dotars.gov.au/transreg/vsb/vsb_10.aspx
you need a VSB10 form and you can download an explanatory booklet as well.
The criteria is explained for personal imports. You can either own the vehicle for more than 1 year or the vehicle is older than 15 years, they are the only private import approvals allowed. You'll need to prove who you are which can be a pain if you are overseas, passport photos, etc etc.
Once you've got your import approval - not a guranteed process I'm afraid as the staff at VIMPORTS are a bunch of koalas who prefer to get the rubber stamp "denied" out more than the "approved" one. Send more information than is requested - copies of registration documents in your name, invoices showing your name and dates of servicing and purchase, a photo of the VIN and build date plates as well. Any extra information that you can provide will ensure that the process is a bit smoother, if the vehicle is less than 15 years old its really important to prove that you have owned it for more than a year.
Now that you the Import Approval you can book transport to Australia.
You can either do all the customs and AQIS (quarantine) clearance yourself or get a Customs Agent. Customs and AQIS are very professional and seem to have the attitude of helping you get the vehicle into the country (wheras DOTARS is about keeping it out), they will assist you with paperwork an N10 form is required and Customs and AQIS share the same buildings (in Brisbane). Customs will need the Import Approval, they will calculate the clearance fees, duty and GST (VAT) and give you a bill to pay in cash or by EFTPOS - no cheques or credit cards. Its likely that the AQIS inspection fee will also be added at that point as well. All fees are subject to the vehicle passing inspection, re inspection means more fees to pay. Be very wary of allowing customs agents a free hand at this stage as its an easy money earner for them "Oh by the way customs had to re inspect thats another $250". When you've paid all the fees customs and AQIS will give you an authority to have the vehicle released - subject to the inspections having been completed. You'll have to get in touch with the stevedores to find out if the inspections have been completed.
AQIS have some rules about vehicles which have been in foot and mouth endemic areas, check the AQIS website for all of their requirements.
To get the bike from the wharf/airport you have to pay in cash the landing fees to the local shipping company agent - not to the stevedores, they get paid by the shipping company. They will give you a release authority which enables you get the vehicle out of the bond area.
Thats sort of it for the Federal Government - with no doubt a few minor hiccups in the process.
Now for the State requirements, before you can ride the vehicle anywhere it has to have compulsory third party personal injury insurance - I have access to a Trade Plate which has made getting vehicles off the wharf a breeze.
My current understanding is that a vehicle imported (not on a carnet) into Queensland is always unregistered and has to be either transported or put on a Trade Plate to move it around. An unregistered vehicle permit will not be issued unless it is being driven directly from the wharf to a garage which will do the safety certificate inspection (MOT/TUV/RWC as they are known around the world)
gives the process that Queensland Transport requires of you.
Its likely that Queensland Transport will put some pressure on you to undergo the written drivers licence test and swap your licence over straight away - you have three months to do that so take your time. Having a vehicle owned by you and registered in Queensland and not having a Queensland Drivers Licence after 3 months means that you will be driving unlicenced after that time - even if you are NOT in Queensland at the time so beware. The State by State registration and licencing is an absolute nightmare for someone wanting to travel around Australia.