If you can centralize your queen without suffering pins (from opponents bishops or rooks) then you will do fine. In general you want to develop your queen last to avoid losing tempi.
As sicilian player I often play my queen on a5 with black but in French defense you will rather place it on b6.
With white you will play it on a4, d2, e2, d3 or sometimes c2 or b3 based on the position. Just see watch top level games & theory and then experience what works best for you.
There was a thread on this about a year ago. It depends almost entirely on the opening/variation/situation, I believe. For example, in the Colle System White's queen goes to e2, and Black's queen goes to c7 most of the time. In systems against Black's fianchettoed and castled kingside (Yugoslav Attack, Pirc Defense, Modern Defense, etc.) White's queen goes to d2 to back up the bishop at e3. In the main line Najdorf Sicilian White's queen often goes to f3. In the Exchange Caro-Kann, both sides' queens often go to b3 and b6. That's just one reason I believe it's so important to know the openings: so that you place your pieces and pawns on the best squares and so that you castle on the best side.
We know in general or a lot of the time in the developing stage of the game the king should be tucked away somewhere safe, rooks on open files or supporting something like a centeral pawn, bishop and knights influencing the centre somehow but where does the queen go?