Having just learned I have a 22 yr old daughter and 2 grand children, how do I get to know them for the first time?

Last night I learned via facebook that I have a 22 year old daughter and two grandchildren. Has anyone gone through the same experience? We talked on the phone and want to meet each other. My head is spinning! Any advice on how to get to know my daughter and my grandbabies for the first time would be a great help. What to do, what not to do. I am so excited I’m jumping out of my skin. Thanks in advance.