Check out Disboard, and search for 5e or avrae (and optionally play by post) to find a discord server to play on.
There are plenty of small Discord servers that use a bot called Avrae to automate the crunchy mechanics of d&d 5e, with things like char sheets, initiative, monsters and combat, and even maps. Some servers are slow paced, where everyone is expected to act once per ~24 hours, so you get a nice asynchronous game going where you have time to learn your character's abilities, bot commands, etc, all while typing up your roleplay that matches the mechanics of your turn. That format is great for learning and getting the hang of things in the system, IMO, because you have a ton of time to ask questions in a chat channel to have others help you. Other servers will do sync events, where you sign up for an event with a specific star time, hop into a voice channel, and play with ~5 minute turn timers to really crunch through some combat quickly. This is great once you have the basics of Avrae down (and by extension, the mechanica of 5e).
That's usually a "westmarches" format, where the server has a large number of players who queue up for events, but each event can only accommodate a small number of players from the top of the queue. You get grouped with random others this way (contrast that to "campaign" play where you stay with the same players for many consecutive sessions). IMO westmarches really helps get you acclimated to D&D through broad exposure to lots of classes, monsters, mechanics, RP styles, etc. And it works really well for someone who is casual!
Look into your local game cafe(s). That's the type of place that sells board games, dice, minis, but also has gaming tables and often a small food and drink counter. There are likely nights for newbies you might be able to join, to experience it live.
Watch some youtube videos of people live-playing the game you are interested in. You'll see the character players interacting with the DM, propped up mostly by their shared understanding of the game mechanics, and the individual mechanics of their characters. Keep an eye out for how things are different in combat vs out of combat.
You don't need minis or dice if you play online. E.g. there is a Discord bot called Avrae, and many small communities come together around use of that bot to play, where it handles most of the crunchy mechanics like dice rolls and modifiers and even maps. Some communities play live sessions over video chat, others play without video chat but with 5 minute turn timers, and others play asynchronously with 24 hour timers in a format called play-by-post (or pbp) where they roll the crunchy math in one channel, and then roleplay their characters' actions in another. Disboard will let you search communities who are looking for members--filter by whatever tags interest you most.
Finding a live play group to play a campaign with can be... Hard. I recommend you start by educating yourself about a system via free resources, maybe finding a game cafe to experience it in a one-shot, and try some online play, before investing too much. As you learn more, you're also more likely to encounter people looking to start or grow a group.