Hi Brian, I'll too extend my hand and welcome you here. You've gotten some great advice and I'll simply try to add to that. Yes, hook up with a urologist and try to find one that has additional experience/focus on prostate cancer.
He/she will do a thourough exam including DRE and blood draw for PSA - and as others have said there's lots of "Do's and Dont's" before a PSA test - no sex, horseback, bicycle, motorcycle riding, in fact I wouldn't do anything that would jostle you around down there - 48 hours before the blood draw.
When you go to the uro get whatever history you have on any prior PSA tests as that will be helpful in creating a history and baseline.
Don't panic, you don't have enough information to know if you're headed down the path of needing treatment for prostate cancer or not. "Get to a uro now" doesn't mean Monday morning, but sooner rather than latter would be best.
You've found a great group of guys and gals that are here to help, so ask ANY questions you may have. It's all probably moving too fast for you right now, but we'll be here to help. While none of us are medical professionals, we are those that have lots of experience and knowledge tht as you've seen we'd be happy to share with you.
Best to you and stay in touch!