I assume you know how to create a story in the first place.
From the Home page, click 'Write a New Story' above the left side bar.
On the create page, under 'Collaborators' click on co-writer -- a drop down will appear asking how many collaborators you want, up to a maximum of five. When you create your story, it will open it up to invite collaborators / other members can apply to join your story.'
I hope that helps.