In the following link, you have an explanation of these clauses, and after that, some exercises to practice:
http://learnenglishteens.britishcouncil.org/grammar-vocabulary/grammar-videos/relative-clauses
If you want/need more practice, you can use these links:
http://www.englishexercises.org/makeagame/viewgame.asp?id=4219
https://www.ego4u.com/en/cram-up/grammar/relative-clauses/exercises?04
https://www.ego4u.com/en/cram-up/grammar/relative-clauses/exercises?12
Finally, and a bit more difficult, in these links you have to join two sentences into one, using defining and non defining clauses:
http://www.perfect-english-grammar.com/relative-clauses-exercise-1.html
http://www.perfect-english-grammar.com/relative-clauses-exercise-2.html
http://www.perfect-english-grammar.com/relative-clauses-exercise-3.html
http://www.perfect-english-grammar.com/relative-clauses-exercise-4.html
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