Minecraft for Windows (Microsoft Store) or Xbox console — Bedrock Edition
The server has a whitelist. You can't connect until the admin adds you. Your Xbox gamertag is the name on your Microsoft/Xbox account — the one you use to sign in to Minecraft.
You can check it by opening the Xbox app on Windows, or in Settings → Account on your Xbox console.
Launch Minecraft from the home screen. Sign in with your Microsoft account if prompted.
From the Minecraft menu, select Play, then navigate to the Servers tab.
Scroll past the featured servers to find Add Server.
Server Name: Goat Server
Server Address: goats.sortoflikethis.com
Port: 19132
Save and connect.
This is the version from the Microsoft Store (not minecraft.net). It uses your Xbox gamertag to sign in.
Launch the app and sign in with your Microsoft account.
Click Play, then the Servers tab, then scroll down and click Add Server.
Server Name: Goat Server
Server Address: goats.sortoflikethis.com
Port: 19132
Click Save, then click the server to connect.