Note: To play in co-op, all of Sequence 3 must be completed
Play with Friends
There are many ways to invite friends to your game to play with you. In the open world, walking up to an NPC with a red Co-op/Heist Mission icon above their head will bring up a prompt to invite your friends. Another way is by opening the Pause Menu and select Play Together, then select Invite Players to invite them. Lastly, you can open your Map and select a Co-op/Heist Mission to start a Private game and then invite your friends using the previously stated methods. After inviting your friends to your game, you can queue for a Private or Public co-op mission through the same options used to invite friends to your game.
Play with a Public Group
Similar to playing with friends, open the Pause Menu, select Play Together, and then Play Co-op Now to queue up alone. Or open your Map and select the red Co-op/Heist Mission you wish to do and select Play in Public. Lastly, going to an NPC on the map with a red Co-op/Heist Mission icon over their head and selecting Play in Public from the onscreen prompt will place you in the queue to play with others.