Using Stealth
If the circumstances are appropriate, the GM may allow you to try to:
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hide from enemies (see benefits of an unseen defender);
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slink past guards; or
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sneak up on someone (see benefits of an unseen attacker). (80, 93)
The GM could ask you to make a Dexterity (Stealth) check. If undertaken during combat, then you may also have to take the Hide action.
Dexterity (Stealth) check = d20¹ + Dexterity ability modifier + proficiency bonus² + other bonus or penalty
¹ See advantage from a spell, GM discretion, or inspiration, or disadvantage from a debilitating condition, GM discretion, or armor.
² Add the bonus if you are proficient in the Stealth skill. If you are not, then roll without the bonus.
Your check total is then either contested by the Wisdom (Perception) check of an active searcher, or compared with the passive Wisdom (Perception) score of a passive individual. The GM could also just use a DC.