The official website for Parliament House is
http://www.aph.gov.au . This page should give you plenty of info
http://aph.gov.au/visitors/visiting.htm
You can turn up anytime Parliament House is open and there are vast areas open to the public.
I doubt you will be able to get a "back of house" tour due to the House being functional and due to security issues, however you can still visit the Public Gallery of both houses when Parliament isn't in session.
Entry is free and there are plenty of staff around to answer any questions you have (or if you get lost!).
One thing the APH website doesn't mention is that there is a copy of the Magna Carta on display
http://en.wikipedia.org/wiki/Magna_Carta#Copies
Don't forget to take a walk down the road to Old Parliament House
http://moadoph.gov.au/ where you can sit in the member's seats as well as roam the corridors and enter the various offices, cabinet rooms and PM's office (including the shower).
Evan :->