The basic rules are freely available here: https://dnd.wizards.com/articles/features/basicrules

But, uh, they're a little long. There's a lot of videos flying around, and you can also watch videos of groups of people actually playing eg Critical Role to get the general vibe too.

For reference:

Bubba - Half-Elf Bard
Del Murder - Human Rogue
DK - Tiefling Warlock
Jinx - Dwarf Barbarian
Shauna - Gnome Wizard

We're a liiiiiittle light on the physical combat aspect and Bubba is the best healer but beyond that I think there's a good set up.