Simple Taxonomy Query:

Display posts tagged with bob, under people custom taxonomy:

$args = array(
	'post_type' => 'post',
	'tax_query' => array(
		array(
			'taxonomy' => 'people',
			'field'    => 'slug',
			'terms'    => 'bob',
		),
	),
);
$query = new WP_Query( $args );