I have an alias bound to connect to my own server by simply typing "join". Here's how to do it:
Navigate to your Team Fortress 2 directory (usually steam/steamapps/<your username>/tf/" and find the "cfg" folder.
In that folder, find "autoexec.cfg". If it isn't there, make a text file in notepad and save it as autoexec.cfg. This file is empty or not present by default, so don't worry about replacing anything important. Put this line in it, no quotes or anything special:
Code:
alias join 64.34.181.147:27015
The example IP is my server; substitute that with whatever you want. Next time you load TF2, the game automatically loads that bind and you can connect simply by typing "join" and hitting enter. No more forgetting IPs!