The first time you join to the server, you will be in the lobby, there you can choose where you want to go: Server main, Server minigames, Server creative o Server underrealms.
you can go them using commands /server <server name> or you can follow the holograms and use the portals
You can explore the different server
If you go to server main, you can use /spawn to get your member rank, and go to central kiosk ( purple/end part),
there you can get your started kit, it has some useful items and components
to access them you must press right click on the beacon and then select the book and the emerald which will give you a shulker and a book
You can also use the Rosen Bridge (it is near to the purple/end part of the spawn) to do a ramdom tp, and start you adventure Now that you know how to do it, go for it.