Each family of special lines meets at a single point, called a point of concurrency. The lines containing the angle bisectors meet at the incenter, perpendicular bisectors at the circumcenter, lines containing the medians at the centroid, and lines containing the altitudes at the orthocenter. To find a center, you only need two of the lines, since the third always passes through the same point.
Connect each center to what it's equidistant from. The incenter is the same distance from all three sides, so it's the center of the inscribed circle. The circumcenter is the same distance from all three vertices, so it's the center of the circle passing through every corner.
The centroid splits every median in a 2:1 ratio, with the longer piece on the vertex side. It's the balance point of a triangular cutout, and on a coordinate plane it's the average of the three vertices.
Location depends on triangle type. The incenter and centroid always sit inside. The circumcenter and orthocenter are inside for acute triangles and outside for obtuse ones. In a right triangle, the circumcenter is the midpoint of the hypotenuse and the orthocenter is the right-angle vertex. In a triangle that is not equilateral, the orthocenter, centroid, and circumcenter lie on the Euler line. In an equilateral triangle, the three centers coincide, so there is no unique Euler line.
Worked example. A triangle has vertices A(0,0), B(6,0), and C(3,9). The centroid is G=(30+6+3,30+0+9)=(3,3). The median from C ends at the midpoint of AB, which is (3,0), so it has length 9. Then CG=6 and the rest is 3, matching the 2:1 ratio.