How to invite people like Xbox party.

So I come from the xbox ecosystem where you just send friends invites if you want to let them know you have a party open while you're online. For reasons I'm not going to get into, we don't use xbox parties anymore. But we all still play on xbox.

How tf do I do that on discord? I'll just be sitting in our lobby vc until someone opens the app on their phone and notices I'm there OR I send everyone a message. Like I just wanna be able to send invites like xbox. How?