To connect, first you must download an IRC client such as mIRC or XChat.
Once installed, it will prompt you for a server (for more information about setting up your client, view the documentation on their website). The server you should use is chat.freenode.net. Once connected, you should join the room #axgl. If your client doesn't ask you for a room on connection, you should be able to get to the room using the command /join #axgl.
chat.freenode.net — #axgl