Wanda, the most important thing -- or at least, the one that's easiest to get wrong
-- is to use an Undernet server. There are tons of different types of networks out there... but they don't talk to each other, so you need to get on Undernet. There are tons of servers available, all over the world -- theoretically you should pick one that's close to you, geographically, but in practice it doesn't seem to matter a bit. Bottom line: if the server name hasn't got "undernet" in there somewhere, don't use it.
Once you're connected to the Undernet, just type /join #channelname (with a password if there is one). There's usually someone online. #loisclark is busy earlier in the day (afternoon for EST), and then #lanekent gets busier at night, but they're both open 24/7.
Look forward to chatting with you!
PJ