You are already connected to and speaking with your higher self. You just don't realize it
But he/she/etc is always listening to you and your thoughts, knows all your desires, and what will bring you the greatest long-lasting joy and fulfillment.
So all you have to do is listen, really. But you can ask questions too. Calm your mind, ask a question, then let it go.
Later on the journey you can get answers immediately. But early on, it's important to not be too thirsty for the answer. Or to hear back. So let it go.
You will likely get the answer while driving, doing the dishes, brushing your teeth. A moment when you are not really thinking about much very intensely.