You do not need to get a membership with PCGS in order to submit, an alternative method is to submit through a PCGS authorized dealer. If you live in an urban area, their likely is a PCGS authorized dealer who can submit them on your behalf.
If you want to submit them on your own you need to join their "Collector's club". I usually wait until I have 8 coins I want to get graded and then go with platinum membership as it has the lowest cost per coin graded for the initial submission. See here
https://www.pcgs.com/store/memberships.aspx You also need to pay an "attribution fee" in order to get the off center designated as a
WAM and as an off center, thats $18. You need to pay return shipping and insurance which varies based on your estimated value of the coins, and I believe on top of all that they now charge a $10 per order handling fee as well.