To clarify, PFS is an organized play mode where you take a character through many unrelated scenarios, usually with strangers at FLGS, conventions, or online.
You don't need to register for PFS for a game with friends (though you can do so if some of you want to use your home game credit to progress their PFS characters).
And not every module can be played for PFS credit (the only PF2 module released so far, The Fall of Plaguestone, is not sanctioned for PFS yet).
Adventures that are released for PFS are called Scenarios and are shorter than a module (intended for one session). There are also Quests which are even shorter- about 1 hour each.
If you do need PFS after all, the guide is at http://www.organizedplayfoundation.org/encyclopedia/pfs2guide/