Hi Shane,
I attached a picture to help you out

1. You have to select the composition you would like to render
2. Select composition-make movie (or add to render queue in CC version)
3. I suggest h264 format
4. Enable audio
5. Set the filename
6. Start render
Let me know if you need further assistance, you can contact me through my website: https://iwansfactory.com/
https://iwansfactory.com
Motion graphics portfolio