I want to do the Kingsfall Raid but I've never done it before.

Just look on lfg for a Sherpa and send him a message. They do exist. Sometimes it can take an hour or more to find a group but that's just how it is. Be honest and upfront about your experience and someone will let you join. It if you want to go the other route race your way to a higher level and farm some three of coins after you hit 300. Then watch enough videos to know what your doing and lie your way into a fire team. We've gone all the way to the daughters before realizing we had a total noob among us who didn't even have a mic. :) he was a good listener but without exp. And the ability to communicate he couldn't grasp the mechanics to keep going. Also the Christmas noobs 2.0 are coming. Just wait a few weeks and the lfg sites will be flooded with them.