You're asking me about a set-up. It has been a while, but I'll give it a try.
- load TeamSpeak 3 from http://www.teamspeak.com/, install it.
I had to do an update these days, so get a fresh copy.
- under "Connections" (first tab, perhaps different name), choose "Server List" (sp?),
- search for "public" or "free" in hope for a free server,
- connect to it with a double click,
- test if you may open a channel of your own for free,
- communicate server and a channel&password to your friends,
- have fun!