Nmap, the Network Mapper, is the standard tool for discovering what is on a network and what services those hosts expose. It works by sending crafted packets and interpreting the responses to tell which hosts are up, which ports are open, and often which software and version is listening. It is almost always the first tool in a real assessment, because you cannot test what you have not mapped.
The core ideas are host discovery (which machines are alive), port scanning (which ports are open), and service and version detection (what is running behind those ports). On top of that, the Nmap Scripting Engine adds thousands of scripts for deeper checks. This guide runs each of these against a target you are allowed to scan.