Yes, the process is really quite simple.
1. DM describes the environment. Asks what tasks the characters are doing in that context.
2. Players describe what the characters do.
3. DM decides some monsters will confront the PCs.
4. DM determines surprise:
(a) If the monsters aren't trying to be stealthy, nobody is surprised, even if the PC isn't keeping watch for danger.
(b) If the monsters are trying to be stealthy, roll Dexterity (Stealth) for the monsters. If a character is engaged in a task like navigating, foraging, tracking, or drawing a map (or something as distracting), they are surprised unless a ranger in favored terrain. Otherwise, check the monsters' checks against the PCs' passive Perception scores to figure out who is surprised.
5. Establish position.
6. Roll initiative.