When the installation and configuration for TFS 2010 is completed, the next step is to connect and use TFS.  There is a Web Access component, but in order for it to serve useful you need to create a project into the Team Project Collection.  This is where Visual Studio 2010 comes in.

Open Visual Studio 2010, then click on the Team Explorer Tab (red arrow pointing to it) or go to View > Team Explorer.

Once there, click the Connect to Team Project toolbar button

This will open up the Connect to Team Project dialog, click on Servers …

On the Add/Remove Team Foundation Server dialog, click Add …

On the Add Team Foundation Server, enter the name of your server and click ok.

If you are prompted for credentials, provide the credentials needed. Once accepted, the server will be listed on the Add/Remove Team Foundations Server dialog, click close.

You will be back at the Connect to Team Project dialog, assuming you have one Collection, click Connect. (In the event you have more than one project collection, select the appropriate collection and then click Connect)

Your Team Explorer tab will look something like the image below.