When using the membership plugin with Buddypress, how should I have users register?

I am wondering what the best way to have my members register for my site?

I want to have paid members signup through the membership plugin... will this also give them access to buddypress that I am running on my site?

I'd hate for members to have to register for both Buddypress and the membership in order to get full access to the site.

Hope this question makes sense. Thanks in advance.