> So do I just have to type it once,
The first line is supposed to start the server and the second is supposed to connect to it. Does that actually work with the default configuration? Maybe it does but there are permissions that need to be right in X which are there to prevent people getting into your system.
> because I am trying to get it so I don't have to connect to a monitor
> to start the vncserver every time.
If you just want to run X apps off the RPi, you can also run ssh -X user@host program with the program you want, which is what the command line does in the example with vncserver. The application will just pop up on your local screen like a normal X program, assuming you are running X locally. Under Windows, perhaps try MobaXTerm or something like that. Lately I've been using X2Go in place of VNC, so look into other options.