Once you have completely set up all of the membership plans on the account (under "set up" > memberships), the system would allow you to share your membership sales link - this directly routes your customers to the available plans you have in the account:
You have different options here:
you can show both membership & packages (if you offer packages as well, you can have this in one page) or only show memberships on the link (please see sample below):
you may also get the direct link to send to customers which is the link shown below:
Or you may also opt to get the code to embed on your website.