Hello here is an example i have used :
<?php while ( have_posts() ) : the_post();
$category = get_the_terms( $id, 'event_category' );
//get First Category
$firstCategory = $category[0];
//get category link
$category_link = get_category_link($firstCategory->term_id);
//echo category name
echo $firstCategory->name;
endwhile;
?>
change event_category with your taxonomy slug