You can get around quickly using one of the three methods listed here, provided that you have an Enderpearl. There are no 'free' teleport commands that you can use.
To set your "home" — where you'll respawn after you die, make a bed, place it somewhere safe, and then sleep in it by right clicking on it. It's okay to do this during the day too. Remember to place the bed somewhere safe and lit, because you do not want to die and respawn in a field of hostile monsters.
Setting down a bed is one of the first things that you should do.
Return to your bed at any time using an Enderpearl: Stand on land and toss an Enderpearl at your feet. This will cost you one Enderpearl, but you will appear at your bed.
To teleport to someone else, have the other person type /accept your_name in chat. The other person can abbreviate your name (for example, if your name was LeiserGeist, your friend could type /accept Lei).
You will need an Enderpearl to teleport: crouch and right click while holding the Enderpearl to open the teleport screen. Click on your friend's name to teleport to him or her.
If you want to get to spawn, stand in shallow water and chuck an Enderpearl at your wet feet. You'll teleport back to spawn. This will cost you one Enderpearl.
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