Xur is located at the Tower next to the balcony over by the Speaker, so to reach him, spawn in, go left...
I'll give you guys one guess as to where Xur is at... if you said at the Tower, you are correct.
He's near the tower, standing over by the giant doors that we still know nothing about (it's really bothering me).
Xur is at the Tower this weekend and you'll be able to spot him over by the Speaker hanging out.
If you haven't found Xur yet, he's hiding over at the Reef social space in his usual spot that we all know.