Look for where the line actually starts before joining (in busy places it’s not always obvious) and join at the back, not wherever looks convenient.
If you’re unsure whether a queue has formed (a crowded bar, a busy counter), it’s normal to ask “is this the queue?” or “who’s next?” rather than assuming and pushing forward.
A queue forms almost anywhere a few people are waiting, not just formal lines: a bus stop, a coffee shop, a post office counter. If you have to step away briefly, saying “I’m just behind you” to the person nearby holds your spot without you needing to stand rigidly in place.