Click on your boat in the nav map or TAI to create waypoints. That will get you moving, the rest of the controls will appear once you complete the tutorial and begin your first patrol.
Bear in mind also, if you don't want to bother sinking the 4 ships and just get the tutorial done, you can simply fire four torpedoes (whether they hit or not) and you'll get orders to return to Kiel. The actual mission order for the stock tutorial at that point is 'sink all ships or fire four torpedoes'.
When you return to Kiel, you don't need to park it in the sub pen - just look for the icon in the top right when you get close enough.
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