Get the battery load tested. Any auto shop will do that for free. Or put a multimeter on it and make sure it's well above 12vdc. A resting battery (with the car off) should be at least 12.8vdc.
If the battery is good and you want to test the starter, I'd put it in neutral & use the battery with some jumper cables. Clamp the black wire from battery negative to a good engine ground, then clamp the red from battery positive to the starter main terminal. Be careful not to hit anything else going in...it's pretty tight in there. The starter solenoid should thump & the starter should spin the motor. Take care as the motor may flex a surprising amount on worn M42 mounts.
The starter won't turn if the battery isn't giving enough amps. If the battery is a little flat you'll hear the relays clattering. If the battery is really flat the under-voltage relay will disable the whole starter system to protect electronic parts like the regulator and DME, so it'll seem like the starter is dead.
If you have a battery charger you can give it a good charge. Mine goes to 10amps at 12volts, it'll charge up a flat battery in about an hour.