Access the map by pressing
M. You'll see icons representing dungeons, towns, and other points of interest along with brown lines denoting roads. The difficulty level of a dungeon is represented by the number of dots that appear above the icon. Your current location is initially at the center of the screen, but the map can be shifted around by clicking and dragging. The mouse wheel zooms in and out. There is also a minimap seen in regular play at the top right.