I know that I can give power to a motor by using the set() method and passing in a value from -1 to 1, but how can I set a velocity to the motor?
What motor are you using (ex NEO, Falcon), as well as the motor controller?
When running velocities, you need to characterize/tune your motor. This allows you to convert a velocity to a voltage that you can run into your motor.
See: this control systems intro, and this characterization guide. Let me know if you have any more questions 
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NEO with a spark max
Alright then. Well like @Admlvntv said you do need to come up with PID values. This video provides a good intro on what a PID Controller is.
The actual code is pretty simple. Get the PID values using the WPI guide, and set them in using setP. However, it is much easier to use the USB-C interface on a spark max to set up all of these things without code, then copy them over to your code. It even has a graph to see velocity, etc.
m_motor.restoreFactoryDefaults(); // start fresh
m_pidController = m_motor.getPIDController();
m_pidController.setP(0.001);
m_pidController.setI(0.0);
m_pidController.setD(0.0);
m_pidController.setReference(position, ControlType.kVelocity);
The example (java) has a good example that shows more advanced configurations. The main part is getting the constants tuned just right.
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