Open chat ingame by pressing "enter" then type the desired command. (don't forget to use "/") 

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Chat Commands:
/home add <name> - Saves your current position as the location name.

  (alias sethome)
/home list - Shows you a list of all the locations you have saved.

  (alias listhomes)
/home remove <name> - Removes the location of your saved homes.

 (alias removehome)
/home <name> - Teleports you to the home location.
/tpr <player name> - Sends a teleport request to the player.
/tpa - Accepts an incoming teleport request.
/tpc - Cancel teleport or request.
/town - Teleports yourself to town.
/tpinfo - Shows limits and cooldowns.

/tphelp - Shows help.