To quickly find and join your Ark: Survival Evolved server, you can use a feature that is part of the Steam game launcher.
Go to the menu in the very upper left hand corner of the Steam window.
A small menu pops up, and click "servers" on that menu.
This window below will appear. Click the "add a server" button near the lower right corner.
That will make a smaller window appear, and enter the IP address of your server there, and save it.
If the server is running, it should now appear in the center section of the Steam server window.
Click on that server listing, and you can now join the server through Steam.