When succulents are first starting out and small they need to be watered more often and when they get bigger the succulents need less water.
Succulents when first growing need to be watered every 2 to 3 days and when they get bigger then you can cut the watering of the succulents down to once or twice per week which is enough.
When you water the succulents you should give the soil a good soaking and if the succulents are in pots then water the succulents until you have water coming out of the pots holes.