A direct connection is the best way. You would need to use a check valve and a ball valve after the pressure tank to the irrigation system and a backflow preventer will be needed. Most important is the well and pump motor. For best performance and less stress on the pump a CSV should be installed.
https://cyclestopvalves.com/ Because flash player is no longer supported I could not get any video references for you.
Some back flows must be installed above the highest sprinklers, other can be blow grade such as in a basement. The drain for the winter installing a hose bibb below grade in the basement can be opened and allow most of the water to drain back from the zone valves. For the rest of it an air compressor will work the best. Using an assortment of fitting to make an air connection woul dbe needed.
FYI.... what you want to do you'll spend at least $500 getting it set up with the right controller, zone valves, sprinklers, pipe and fitting. The CSV will add a few hundred more. If this is going to be past your budget or skill set, continue what you want to do and see how it works. It may be just fine for your needs. Just note without a CSV, your well pump may short cycle. That is the pump is pumping more water than the irrigation calls for and the pressure switch will shut of the pump as the pressure tank fills. However, in a short time the pressure drops and the pump turns on again. If the pump cannot keep up with demand, the house pressure will suffer but the pump will continuously run which is actually better.
At sprinkler warehouse dot com there is lots of information and thousands of YouTube videos on installing irrigation systems.