How can I send people directly to the membership sign up page?

Is there a way to send people to the membership signup page without using the shortcode but by a URL?

I want to make my call to action on https://www.wantingtosucceed.com/web-design-membership/ go directly to the signup page not the page that lists all my membersips https://www.wantingtosucceed.com/memberships/.