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To find which terminal is closest to you, visit http://www.cksp.com.hk/en. This site also lists the addresses of the terminals. You can take a ferry from terminals including the Hong Kong International Airport, HK-Macau Ferry Terminal, China Ferry Terminal, and Shekou Ferry Terminal. If you are flying into Hong Kong, you can take a bus ride from the airport to the ferry station. The airport express transit bus is free to use. Take the K2 bus to the Hong Kong Ferry Terminal. To review the bus schedule, visit https://www.hongkongairport.com/en/transport/to-from-airport/public-buses.page. To see the departure times, visit http://www.cksp.com.hk/en. There are departures from Hong Kong to Zhuhai every 1-2 hours on average. You don't have to buy a ticket in advance to take the ferry. Simply show up 10-15 minutes early to pay for the trip. It costs about HK$260/280 ($2.50) one-way to and from Zhuhai. It is better to show up earlier rather than later. Tickets are usually available, but they could sell out. Most terminals accept both cash and credit card. The ferry conveniently takes you from Hong Kong to Zhuhai in about 55-70 minutes. Sit back and relax as you cruise across the sea. You can listen to music, read a book, or take a nap while you wait.
Check online to see which ferry location is closest to you. Select a departure time that works well for you. Pay the fee at the ticketing counter when you arrive. Travel on the ferry for about 1 hour.