Hello Gallente Pilot!
WTM just loves attentive newbros trying to join into WTM fleets! You are indeed in the right place if you want to do some incursions. It is totally fine to join in-game chat for you. Actually it is even recommended. In the MOTD you will find a couple of really useful links for you. The 2 top being probably the Warp To Me Rookie Guide , and the WTM Fitting Website. These will probably answer most of your questions. But you can browse through the MOTD for other stuff too if you feel like it!
For you (and for most of the newbros honestly) i'd recommend to look at the Hyperion first and try to get into one, it is a fairly cheap starter ship, and maybe you already have some skills for it!
If you find out that you like incursions after some time and this is a thing you want to do and earned enough ISK, then you can look at the Vindicator and try to switch into it from the Hyperion. It is one of out optimal hulls and a really fun ship to fly.
Welcome to Warp To Me!