You can get to it via the mouse, I went looking using Help & Support, Accessibility, Features for people who have mobility impairment.
From that screen there is a list, click the On-screen Keyboard overview.
There is a link which can be clicked to Open the On-Screen Keyboard. Or you can go from a different direction and probably easier.
To open On-Screen Keyboard, click Start, point to All Programs, point to Accessories, point to Accessibility, and then click On-Screen Keyboard.