Join in four steps
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Use Java Edition
Veilscar runs on Minecraft Java Edition 1.21.11 or newer, with a paid Java account.
The latest release works: keep your launcher on Latest release.
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Add the address
Open Multiplayer, then Add Server.
Name it Veilscar and paste play.veilscar.com as the address.
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Accept the resource pack
When it asks, accept the pack. Veilscar's menus, items and creatures are drawn with it.
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Your first steps
You choose how to steer the 3D menus: by looking, with the keyboard or with the mouse.
Then you land in the lobby and accept the rules. /codex explains everything else.