It's recommended you read this before plugging your ESP32 into a computer
If your new to using the Arduino IDE, this shows you how to connect your microcontoller to the computer
For first time users, this is how to send your program to the microcontroller, (ESP32), once you've coded it.
By following along with the provided code examples in the projects you'll pick up some basic C++ syntax.
If you have never programmed at all, we recommed you explore the additional resources below. However with a little trial and error you should be able to follow the projects.
Coddy is a free online source that will teach you from the very basics to more advanced concepts
Learn C++ from this website with free tutorials
w3 Schools also provides excellent material for learning C++