You'll need to dig post footings and have them inspected before you fill them with concrete. You'll have to check for code in your area - here, it's 42" deep. Then, fill them with concrete and use a mag to level off the top, so you have a support base.
With a 20' x 24' deck, I'd plan on using two beams even with the ledger board. I would advise constructing your beams with your posts running through the beams (ie: sandwhiched in the middle) and not with the beam resting on top. You may have to install your beams first if your deck will be pretty low to the ground, so shooting heights with a transit would be your best option if you have one available.
What type of material are you looking to use for the deck? Normal PT lumber, or something like a Trex pkg? We've used both, but most decks we build are from standard PT lumber. We build them a little more heavy-duty than most, so let me know in more detail what you're aiming to do and I can offer more suggestions.
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