Direct URL to sign to a Membership Type

Hi Folks

Stupid question, I know there is a shortcode to create a 'button' to sign up for a membership.

Is there a direct URL I can craft in HTML which would give the same link as the shortcode?

I have my Membership in a pricing table and want skip the second step of re-selecting the correct membership button on the 'Register' page.

Many thanks,
Amanda