I like the paper maps too. Although I look over google earth and maps as well. Satellite view can tell you more than a road map about terrain conditions. But sometimes it is fun to discover new territory too.

To the OP, just familiarize yourself with the area. Most of Phoenix is easily navigated. You can miss one turn and catch the next one, usually.

It's impossible to get totally lost. Just learn the various mountains around you and use them as landmarks. I've missed a few turns in my day as well. As my Dad used to say when we were off the main track (not lost), "We're taking the scenic route!"