Where do you want to initiate this action? Are you already in QC? Or do you want to initiate the action from outside of QC? If you are in QC, you can go to the Test Plan, select a Test Case, right click on it and select go to Test Lab. If you want to do this from outside of QC, you can select the Test Instance or Test Set in the lab, right-click on it, and select Copy URL. That will give you a URL that will take you straight to that item, though you do have to go through QC authentication first (if you aren't already logged into QC).
(Opinions and information contained in this post are wholly my own and do not reflect the opinions of my employer.)