Ask your friend, consult your hosting provider, etc.. no matter how you get it you will need an IP address and PORT number. The game uses multiple ports but the one that matters here is sometimes referred to as the `Query Port`. It will look something like `192.168.1.123:2822`
Step 2: Add the server as a favorite in Steam
Open the Steam Game Servers menu
Go to the Favorites tab and add a new favorite
Enter the server IP and port
Now load up the game and click PLAY
Click JOIN
Your Favorites should appear the top of the server list