play with friends

Hello, it is the first time that I communicate through this channel. I am new to Minecraft but I have tried in a thousand ways to be able to play with my friends and it is not possible. As much as they are connected and I have them in friends on ps4 and also in Minecraft, it does not let me play with them or enter their worlds. I have ps plus like my friends. I need an answer as I want to play with them