The quickest way to learn the difference is to diagram the two types of sentences. For example, find the S=subject and V=verb of the sentence, and then notice if there are two sentences put together with a conjunction. As in "Most people are excited to travel to new places, and they learn to adapt." Notice the double subject and double verb united with a comma+conjunction (and). This is compound.
A complex sentence has a dependent clause and an independent clause. Look for a subordinate conjunction to identify [then, which, who, because, what, etc. . . .]. I still think learning to diagram sentences makes these identifications all the easier.