Not right away--when you start the game, your character only "knows" the locations of the local settlements and major roads. Durlag's Tower isn't exactly a hotbed of agriculture and commerce.
Go to the Nashkel Fair and head east, or alternatively go to Wrym's Crossing (Bridge to BG city) map and head north. If Ulgoth's Beard and/or Durlag's Tower still fail to show up on your map, you'll need to run the program called MCONVERT, which is in your BG directory.
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Volothamp's Comeuppance
Everything you ever needed to know about the entire Baldur's Gate series......except spoilers.
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