So, how do I... RP?

I mean, I know how to roleplay.But how do I go about... doing it? Or, to put it differently, how do find and join a group of people who rp long-term and do... plots and things? Because the extent of my experience is an old light-rp/levling guild with me and three DK trolls, story night on WrA, and the SMC inn.Do I have to join a guild to get in an rp circle? Is it okay or majorly taboo to just walk by and butt in to a group of people talking about something that's obviously their personal story? ...

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