To become a Lutheran, only Baptism and instruction in the Christian faith is required. If you are already baptized in the name of the Father, Son and Holy Spirit, it will be necessary only to attend a membership class in a Lutheran congregation and thus signify your desire to become a part of its community. Active members of other Lutheran congregations usually need only to transfer their membership.
While there is much we do not and cannot know about life beyond the grave, Lutherans do believe that life with God persists even after death. Judgment is both a present and future reality, and history moves steadily towards God's ultimate fulfillment.
This of course is a great mystery, and no description of what life may be like in any dimension beyond history is possible. Anxiety for the future is not a mark of faith. Christians should go about their daily tasks, trusting in God's grace and living a life of service in his name.
Lutherans accept two Sacraments as God-given means for penetrating the lives of people with his grace. Although they are not the only means of God's self-revelation, Baptism and Holy Communion are visible acts of God's love.
Lutherans believe that all people live in a condition which is the result of misused freedom. "Sin" describes not so much individual acts of wrongdoing as fractured relationships between the people of creation and God. Our every attempt to please God falls short of the mark.