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You don't write to DWP for a PIP form, you ring the number above which is the claims number. They will ask you some questions and then send you the PIP2 form. https://www.gov.uk/pip/how-to-claim
You can get a form to send information by post (although this can
delay the decision on your claim). Write a letter to ask for the form.
You’ll need to have this information when you call the DWP:
You’ll be asked if you have any conditions relating to your mental health, a learning difficulty or behavioural condition. These questions are asked to check if you need any additional help or support with your claim.
Then they send the PIP2 form to complete within one month of the date on the form. You can ask for an extension of two weeks as the form is dated the day you make the call and takes approx 2 weeks to arrive.
You can start collating your evidence and potential answers to the questions on the pip2 form.