This answer will assume you mean to see a wild kangaroo, as they can often be found in larger zoos. The best place to see a kangaroo in Australia is outside of the city in grassier areas. Murramarang National Park, Bonorong Wildlife Sanctuary, and Currumbin Wildlife Sanctuary are just a few places to spot the hopping animal in the wild.
At the Bonorong Wildlife Sanctuary, the entry fee goes back to saving wildlife and you have the option to buy food to feed the animals, allowing you an up-close and personal visit. Finally, there is also Kangaroo Island. The name of the place gives it away, and yes you can see many of the animals there. There are plenty other places to see a Kangaroo in the wild in Australia, but these are just a few favorites.