There is no way to play the game wrong. I've also played a game where we didn't have Maps and it wasn't terribly difficult for the DM to keep notes on where everyone was and we just envisioned the whole thing in our mind. The thing about D&D that's wonderful is that the rules aren't absolute and really you can do whatever you want in fact they want you to go outside of the rules of the game and be creative which is why they have very few rules in the first place.