Welcome Jloeb to flyertalk and to the joys of air travel!

Here is the weblink to the DFW airport website. On it you should be able to locate the shuttle/ground transporation area for your terminal.

http://www.dfwairport.com/

Are you guys headed to a local hotel? There may be a shuttle specific to that property that you could use for free.

One suggestion would be to use Supershuttle which you can book online and in the process one can even earn more miles, always a worthwhile goal here.

Best of luck to you in your travels. If you get stuck just ask most folks in Dallas are willing to help if you are polite.