In the document the P-256 parameters describe the curve P-256 on which you want to perform the operations. Traditionally a curve is represented in Weierstrass-form as the set of points for which
$$y^2\equiv x^3 + ax+b \pmod p$$
holds. Where $p$ is the prime defining the field for the operation and $a$ and $b$ define the shape of the curve. A point on the curve is a pair $(x,y)$ for which the above equation holds.
Now in order for elliptic curves to be actually useful, we want to perform operations on them. Usually this addition of two points, like $R=S+T$ with $R,S,T$ being curve points and we want to double points and thereby allow for fast exponentiation using the repeated square and multiply algorithm (although in practice you'd be more clever to avoid timing attacks). Doubling is usually denoted as $R=2S$ with $R,S$ being points on the curve.
Now to the basics on how to actually double and add two points. This is indeed described in the linked document. For reasons of efficiency, usually a third component for the points is defined $z$. If you have a point given only as $(x,y)$, define $z=1$. For practical applications I strongly suggest to simply follow the algorithms given in the document.
For verification you can use the below equations and the test vectors from the document. Note that for each section of the samples the parameters of that section need to be used.
To add two points $R=(x_R,y_R,z_R)$ and $S=(x_S,y_S,z_S)$ you can use the following equations to get $T=(x_T,y_T,z_T)$:
$$u=y_R\cdot z_S - y_S\cdot z_R\bmod p$$
$$v=x_R\cdot z_S - x_S\cdot z_R\bmod p$$
$$w=u^2\cdot z_R \cdot z_S - v^3 - 2v^2 x_S\cdot z_R\bmod p$$
$$x_T=vc \bmod p$$
$$y_T=u(v^2x_S\cdot z_R-w)-v^3y_S\cdot z_R \bmod p$$
$$z_T=z_S\cdot z_R v^3 \bmod p$$
And finally you calculate the modular inverse of $z_T$ and calculate the affine coordinates of the resulting points as $x_T=x_T\cdot z_T^{-1} \bmod p$ and $y_T=y_T\cdot z_T^{-1} \bmod p$ giving you again the "classical representation".
This is "only" the addition law for two distinct points. Doubling is similarly complicated and should be implemented by strictly following the specified algorithms.
If you really want to learn more about EC crypto you may find more answers in the Handbook of Elliptic and Hyperelliptic Cruve Cryptography. The above algorithm is taken from Introduction to modern Cryptography (Second edition).