So I know that to install a PHP librabry usually you install it in the /lib/ folder on the webserver however I can't find a /lib/ folder on XAMPP and I'm trying to install Swiftmailer in XAMPP.
XAMPP is the tools stack that allows you to run PHP applications on an Apache server (Perl and MySQL also). It isn't supposed to keep any kind of library.
I suggest you saving your libraries in your project's folder.
Or in a global folder that you will add to your PHP include path.