Is there a tutorial on how to setup Membership for allow Membership to simply register into a free m

I can't find a way to do this without using a gateway or subscription plan.

Scenario:

1.) User fills out registration form
2.) User get's a confirmation page and get's access to a membership level and also active.
3.) User now has access to that membership level items.

NOTE: I don't need a subscription plan, I just want to use membership levels.

Thanks!