Well, lets see...
"what's the best way to play TF2?"
Here's some info that might help...http://www.wikihow.com/Play-Team-Fortress-2 "whatisthe best character for beginners?"
Probly medic, scout or solider...
Your best bet would be to try out each character and find one that suits you.
You will most likely fail and get killed a lot, but we all have and still do so dont let it get you down.
Learn map layouts as well.
A headset with a microphone will help a lot with communication, otherwise you'll have to type everything...
Heres a list of our servers...
18.104.22.168:27015 newbies server >>>>>Try this one first!
22.214.171.124:27015 mixed maps
126.96.36.199:27015 mixed maps / no crits
188.8.131.52:27015 mixed w/ new maps
184.108.40.206:27015 Highlander server