This guide should get you going with setting up teamspeak.
Step 1: go to http://www.teamspeak.com and select "Teamspeak 3" from the download menu
Step 2: Select the download for your version of operating system (if you are not sure if you are running a 32 or 64 bit OS, choose 32 bit)
Step 3: Agree to the license agreement and click "Submit"
Step 4: Ignore the quick survey and click "No thanks, take me to the download"
Step 5: the installer should now be downloaded. Run the installer (allowing it to make changes should windows ask) and click "Next".
Step 6 : Click "I Agree".
Step 7: Click on "Next".
Step 8: Click on "Next" again.
Step 9: For a change you need to click "Next" now.
Step 10: Click on "Next" (i can see a pattern forming)
Step 11: Click on "Install".
Step 12: Teamspeak 3 should now be installed. Open it and select "Connect" under "Connections".
Step 13: Fill in "Grief-Guild.com" in the Server Address bar. Fill in your character name in the Nickname bar.
Fill in the password.
the password can be found ingame in the guild info or ask around in guildchat.
Click on "Connect" and you should be good to go!