The compass is in your Hot bar. Right click it and a chest will open, then just hover your cursor above the items to see what server they take you to. When you find the server you want, click it! just click it! Don't let your dreams be dreams.
How are you able to make a forums account and join the forums but you dont even know how to get in-game? Making a forums account is much harder than getting in-game.
Everyone has told you how to do it. If you need any more help, PM me and I will explain anything needed. Closing.