To go to a different map you must bring your character to the transition point on one of the maps. For instance I go to transition point X on the city server and now my character is transferred to server 2, the outlands. To go back I have to find the city transition point on the outlands server.
If you'd like help understanding what it takes to make a good outlands character I can help you. I wouldn't recommend going to the canals server, S2 as it is called, without any previous roleplay experience.