Performing GSEA using MSigDB gene sets in R

I am trying to perform a gene set enrichment analysis in r using the gene sets available from msigdb and a list of gene names from my own data set.

I am able to to use the msigdbr library to import the gene collections from msigdb into r, but I am unsure of how to specifically use a function to compute the overlaps between the genes in my gene set and the gene sets in msigdb and obtain the FDR p-values. Are there any tutorials online for this method or example codes?

Thank you