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In Admin, use the menu to go to Settings.

In Settings, go to Member Notices and click on +New Notice.

Click on Notice Type - Welcome - to see the list of notices available.

Click to choose the notice you want to create or edit.

Fill in the information on the form.

As a special case, the Guidelines can be sent on join and/or monthly, in addition to appearing in the left column.

Click on Add Notice.

See also: /static/help#membernotices

Tip:
If you want to send a message on a regular schedule you can use a calendar event for that.?
See: /g/GroupManagersForum/message/3749
and: /g/GroupManagersForum/message/4264

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The official Groups.io user documentation is in the Groups.io Help Center.