Do a little research if you're new to African drum music. There are a lot of groups in the US that give performances you can attend. Some of these groups include West African Djembe Drumming based in California, the Chicago Djembe Project, and Borenya West African Drum and Dance based in South Carolina. There is no need to go to Africa to enjoy a performance.
Learn about the music. African music has a rich history. There are also a wide variety of different kinds of African drum styles that differ based on the area in which the performer trained and studied. In West Africa alone, there are a variety of different tribes that have each created a unique style. The Mandinka tribe, or Mande, use three kinds of drums, a sabaro, a kutiriba, and kutirinding to create complicated rhymes. The Jolla tribe combines dance and drum in ceremony and use a drum call between musicians. Even what instruments are used changes based on the area the musicians have studied. The Djmebe is the most common drum used and is shaped like a chalice. The djembe is used more prominently in West African drum music. Other instruments that are used are the balafong, a kind of wooden bell kit, kutirinding, a more rounded drum similar to the djembe, and tran bat which looks similar to a conga.
Check local concerts in your area. The easiest way to find performances is to check with local drumming performers. Drum performances are also often held by performers in their own studios since many forms of African drum performances included dancing. Colleges and local theaters' performance venues are also a wonderful place to find African drum performances.