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https://discord.com/invite/rainbow6
Basically if they have a rule page you need to follow first before you can interact with their community on their discord channel then ensure to read on that, and follow the steps needed.
Beside that you just click on the sub channel where you want to type at, and type into the chat box with your message, and hit enter. If you want to private message / DM just right click on them, or bring up user profile, and click send message, then type your message to them, and hit enter, that's about it.
For game help, such as mic issue you're having try posting here as each game has their own discussion page on Steam.
https://steamcommunity.com/app/359550/discussions/
I would suggest ensure that mic is working on Windows, and if not working in game, check the game settings to see if it can detect your Mic, if not run game as admin to see if that can help.