
You are kneeling inside their legs. Keep your posture, stay safe, then open the guard and pass.
Inside someone's closed guard you are on top but not yet ahead. Their legs are locked around you and they want to break your posture to set up sweeps and submissions. Your first job is to stay safe: back straight, head up, hands on their hips or chest, elbows tucked in.
Once your posture is solid, open the guard, either by standing up or by wedging a knee in the middle. Then pass to side control or mount. Rushing the guard opening is the most common beginner mistake, and the reason so many people get triangled.