When in the video conference room, use either the remote control or the touch screen and click on "Call", then select "Directory". There you can choose to go into a list called Zoom. In the list there are two Zoom numbers, choose one of them (it does not matter which one you choose to call from).
When you have dialed one of these numbers, there will be a page where you have to enter the Zoom Meeting ID, then you end with #. If the meeting has a password, you enter it now.
During fall 2020, Teams will also be able to use in the video conferencing rooms, but this is not possible at present.