Payment cards with chips (officially called "EMV cards") can have several different verification methods, including signature and PIN, with a preference order, which is dictated by the issuer.
In your case, there are two possible scenarios:
The card says it prefers to use a signature, but can fallback to a PIN ("signature-preferring card")
This means that you actually have a PIN (even though you may never have used it, or even received it). Ask your card issuer for the PIN. Note that if you have used/can use that card in an ATM, that's the same PIN you would use there.
Note however than your PIN is not the CVV, which is used only for online purchases. The PIN is definitely not written anywhere on the card. You would usually have received it as special letter with lots of security features preventing people from reading it without you knowing about it.
Also note that a card with a chip will usually get blocked after 3 consecutive incorrect attempts (with consecutive here meaning without a successful one in between — they may be hours or days apart and still count as consecutive).
The card says it can only use a signature ("signature-only")
In both cases, you should be able to use the card at regular ("manned") points of sale. The system should not ask for the PIN at all, and instead inform the teller that "a signature is required", however some POS systems may not handle this very gracefully. You can also try to have them swipe the card instead of inserting it into the reader. Note that in most cases, you will be requested to present a proof of ID.
Signature-only cards will usually not work in automated POS systems (ticketing machines) in countries where chip-and-pin is prevalent (i.e. many European countries). Signature-preferring cards should, but they will usually want the PIN.
Note that there are the actual situation is a combination of the preferences/settings/capabilities of the card issuer, the card issuer country, the merchant system, the merchant contract, the merchant country, so YMMV.
More information on Wikipedia: EMV — Chip and PIN vs. chip and signature