Generally, the Sun sign Taurus is compatible with the other two Earth signs, Virgo and Capricorn, Water signs, Cancer and Pisces, and Scorpio is also a Water sign, but it is considered your opposite sign.
Any two Sun signs can get along though, depending on the people and the rest of their charts.
Astrologically, you have to look at other placements in a chart to know if you will be considered compatible. The 7th house is one thing to look at, because it is the house of relationships. The Venus and Mars placements will play a big role in relationships. Also, the aspects mad between two peoples charts are very important.
If you haven't got a natal chart or you want to get a synstry chart to find out the aspects between you and another person, then there are many different astrology websites that are good for getting them.
Here are a few astrology websites that are good for getting a chart (natal or synastry). Go to the chart section and fill out your birth information including your location, time, year, month and day of birth to be accurate.
http://www.astro-software.com/
http://www.cafeastrology.com/
http://www.astro.com/