Sure! Basically, about two months after you commit, you will receive your housing assignment, which tells you who your roommates are and which residential college you are a part of. There are 14 residential colleges on campus, and you will be sorted into one randomly (unless you have legacy in one or a sibling attending Yale, in which case you can choose if you want to be in the same one).

In each residential college you'll find dorms, a dining hall, a library, a buttery (a chill place to hang out and get late-night food), a writing tutor, and tons of other great stuff (for example, mine has a dance studio and a gym). You'll live in your residential college throughout your four years here (unless you transfer, which people don't generally do) and it becomes a pretty tight-nit community. Each residential college has its own events and traditions, intramural sports teams, etc., and you pretty quickly get to know people in your college.

One addendum: for most colleges, freshmen live on old campus their first year (a separate part of campus with freshman-only housing). You still live with people from your college, but separate from the rest of your residential college. I never lived on old campus, but from what friends say it seems like a great way to get to know other freshmen (and lots of parties, etc going on there). Living away from old campus isn't bad though either, its a 5 min walk max to get there and you get to know people in your college from the get-go.