Go to gov.uk/check-mot-history and enter the registration. You'll see the expiry date, the result and every item from the last test. That's enough for almost every purpose — selling the car, checking before a trip, proving it to someone who asks.
If you specifically need the certificate document (some buyers or hire companies ask), gov.uk has a "get a copy of your MOT certificate" service. You'll need the registration and the 11-digit document reference number from the V5C logbook. It's free and prints as a PDF. If you've lost the logbook as well, apply to DVLA for a replacement V5C first.
If we tested the car, we can reprint the pass certificate for you at the counter. Bring the registration; no charge.
You don't need the certificate to tax the car. DVLA checks the MOT database automatically when you renew online or at the Post Office.