If you use the group to control access, you would have to give the url to the person for access. They won't be able to search the CONNECT site to find it. You can only find public content if you search CONNECT.
The difference between Private Access and Group Access in SC Connect
If you use personal access then you would just give them the URL. If you use group access, you must also give them the url. But you can also require that the user enter a password, or access from a particular IP address, or enter a CONNECT username/password. With personal access, you can't set any access control on the content other than just not giving someone the url.