Did you already move your funds from Binance to a wallet/account associated with the Ledger? Through Ledger Live?
Ledger Live does not have Cardano staking available up to now. But as @jeremyisme already said, you can pair the Ledger with a lot of the other wallet apps and they will just control exactly the same wallet.
See https://developers.cardano.org/showcase/?tags=wallet or https://cardano-community.github.io/support-faq/Wallets/list/ for overviews of wallet apps. You can test several of them to see which suits you best.
If you did not already move your funds from Binance to your Ledger wallet, all of them have an option to show you a receive address, which can be used to withdraw ADA from Binance.
Most of the wallet apps give you lists of pools to choose from. Nami is one of the few exceptions that only give you the option to delegate to their own pool. (It is nevertheless possible to either search an arbitrary pool on https://pool.pm/ – with the same browser that has Nami installed – and use the “Join” button at the top right to ask Nami to delegate to that pool through the dApp connector also used by DEXes, DeFi applications, etc. Or you could temporarily use another wallet app, delegate to a pool there, and then return to Nami – if you really like it more.)
To decide which stake pool to delegate to, most wallet apps give you some parameters and statistics for them. Or you can look at tables at https://cardanoscan.io/pools, https://pooltool.io/pools, https://adastat.net/pools, or other explorers. What these parameters mean and how to use them to decide is, for example, explained in https://cardano-community.github.io/support-faq/select-pool-to-delegate/ or https://iohk.zendesk.com/hc/en-us/articles/900002174303-How-to-choose-a-stake-pool.
But maybe you already know one or several stake pool operators that you like and want to support.
Finally, staking on Cardano is “liquid”. You always delegate a whole account, but the ADA do not leave your wallet. You just pay a small transaction fee for the management transaction (plus 2 ADA deposit on the first delegation, but not when changing delegations later, and it’s a deposit, you get it back when you deregister). If you add ADA to your account or remove ADA from it, that automatically changes your stake and your rewards will get higher or lower accordingly in the future. Rewards also automatically aggregate and contribute to the stake (without withdrawing/claiming them).
All changes have a delay of 15 to 20 days. So, it will take 15 to 20 days before the first rewards arrive, but then they will come every five days (if you chose a pool that has enough stake to produce blocks in every epoch, no blocks, no rewards).
These 15 to 20 days are because every epoch, every five days, the delegations and the stake sizes are recorded in a snapshot. That snapshot is used in the next epoch – from 5 to 10 days after the snapshot – to determine which pools are assigned how many blocks to be produced. After the end of that producing epoch, it takes another epoch for calculation, until the rewards are paid out 15 days after the snapshot relevant for them. Since the action influencing the rewards – your very first delegation, a redelegation to another pool, moving funds into or out of the account – might be at any time from immediately after the previous snapshot to immediately before the next snapshots, this adds another 0 to 5 days, leading to the 15 to 20 days altogether.