This page covers "Connecting to a Minecraft Java Edition Server" on the old Multicraft panel. If your Minecraft server is on the newer panel, use this guide instead: How to join a Minecraft Server.
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In the Minecraft start-up screen, select 'Multiplayer'.
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To add your server into your server list, select 'Add Server'.
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Type in your IP and Port, and give it a name for your list.
Make sure you combine your IP and Port with a colon, as follows: IP:Port -
You should then be able to select 'Join Server' once clicking on it in your server list.