Logically, groups will start with multi-group events and then move on to solo events as they amass a fan base big enough to fill a venue by themselves. New groups will usually debut at an event where other groups are also performing. It can be at one of the following events:
Festivals are the biggest events and often include dozens of groups. Depending on the venue, there will be several different areas and stages and groups will be performing at the same time on those different stages. Festivals usually go on for an entire day, with afternoon and evening blocks respectively as there needs to be a changing out time as well as time for the groups' "tokutenkai".
Festivals will require you to purchase a ticket in advance (if many popular groups are participating). Some festivals will offer same-day-tickets (called 当日券 tojitsuken) at the door or at least a lottery for them. Again, it depends on the popularity and will usually be announced on social media. The most common system used for ticketing in the underground festival circuit right now is "Livepocket" (which is available in English).
You should check whether the tickets or the events allow readmission if you would like to leave the venue (and come back for the groups you are interested in). Longer festivals will allow this (people need to eat after all).
The images above are an example for a "Festival" style event. The timetables are for the "Main Stage" (or in this case the Mush-Stage as the organizing group of the event was a group called Mush Up, hence Mush Festival) and for the "Up Stage", a smaller sub-stage located in a different part of the venue (in this case the main stage was in a separate hall and the sub-stage was in the open lobby/bar area).
The main posters will usually only feature more popular groups as well as the MC for the event.
Live events are basically like festivals but smaller. Although there can also be performance blocks here, the 'tokutenkai' will still take place after all acts have performed. Compared to a festival, the scale is much smaller and so is the exposure to fans of other groups but the size of the event makes the fan experience all the more intimate.
For live events, there are several options for ticketing. Some events will not sell official tickets and will do reservations via a 'guest list'. This means you ask the artists via social media directly to 'reserve' a spot for you. You will have to give your name and contact details and you will be asked to identify yourself based on those when you enter the venue and pay for admission.
The flow of a festival and a live event are pretty much the same:
On average each group gets about 15-20 minutes of on-stage time, so about 3-4 songs plus a short MC time where they introduce themselves and talk for a bit.
Coming last in a live event or festival is a special position. It is called "Otori" (大トリ lit. "Big Taker") and it comes from a time when the last performing act was the one to get the pay for all artists and handed it out to them. In modern terms, this is the act that rakes in all the money aka the most popular group.
Taiban 対バン is an expression derived from "battle of the bands" in rock music (tai = vs, ban = band).
Taiban are very similar to two-man or three-man lives and some people do use the term synonymously but there are subtle differences. While in a two-man or three-man live, all acts are usually on equal footing, Taiban lives include an Opening Act and then two or more main acts. The main acts are usually on more or less equal footing while the artists for the opening act are more minor.
Sometimes there can still be elements of a 'battle' at a Taiban. At underground events some groups will have some kind of contest or maybe game during a joint MC and the loser will have to do a punishment game (罰ゲーム batsu game) of some sort.
Three- or Two-Man lives are events with two or three groups or artists only. Usually everyone is on about the same footing in terms of popularity making it a more balanced event compared to a Taiban. Each act will be allotted a certain amount of stage time and sometimes they will collaborate as well (same for Taiban, although at the Taiban, only the main acts will collaborate, the Opening Act usually won't).
Often, groups who get along well and whose groups of fans get along will have joint lives like this.
When the fans get along the events will be a lot more fun as the atmosphere in the audience will be a lot more energetic and evenly spread out. Which means everyone can have fun - both the groups and the fans.
Also the collaborations can be really fun. It can be joint songs or some kind of special videos. Some groups even develop these into series and they will keep up a theme of some sorts for all of the Two-Man lives.