You can join a meeting by clicking the meeting link or going to join.zoom.us and entering in the meeting ID and password.
While you are not required to have a webcam to join a Zoom Meeting or Webinar, you will not be able to transmit video of yourself. You will continue to be able to listen and speak during the meeting, and view the webcam video of other participants.
The address is located on the top of the registry page of this website.