How do I get a Keycloak access token?

I'm interested in learning how to obtain a Keycloak access token. Could you please explain the steps involved in a concise and straightforward manner? I understand that Keycloak is an open-source identity and access management solution, but I'm not entirely sure how to proceed in acquiring an access token. Would it involve making a specific request to the Keycloak server? If so, what would that request entail? Additionally, are there any prerequisites or configurations that need to be set up beforehand? I'd appreciate any guidance you can provide in this regard.