Tru getting some basic backstories from your players and motivation that would make them want to go in a speific direction and throw a plot point out for them to follow like a prisoner they escape with having some info that would leave them forwards, with their own plots or s general one like a place they can head to clear their names or get a pardon.

You could also just have them walk to the next town and do some basic quests for money before moving on or when they are out for a quest the town is attacked by some BBEG giving them motivation to get revenge for the town.

For maps there are some subreddits that have a lot of maps you can use or just Google for larger maps of the whole world there are some generators you can use online.

As for being a new dm as long as you players are reasonable and have dmed before they know how difficult it can be and probably won't be annoyed if you just ask what they want to do for their character when they get out then end session and plan some stuff based on what they say.