You should be able to discover everything you need to know about a REST API by only knowing the initial entry point. This is one of the fundamental points of REST; that it should be hypermedia driven and self describing. It is also one of the least understood principles. The discovery of resources is down to hypermedia links in the responses from the server.
Back as long ago as 2008 Roy Fielding started to get annoyed about people writing HTTP based APIs and calling them REST just because it was the hot new thing. Here are a couple of points he makes;
A REST API must not define fixed resource names or hierarchies (an
obvious coupling of client and server). Servers must have the freedom
to control their own namespace. Instead, allow servers to instruct
clients on how to construct appropriate URIs, such as is done in HTML
forms and URI templates, by defining those instructions within media
types and link relations. [Failure here implies that clients are
assuming a resource structure due to out-of band information, such as
a domain-specific standard, which is the data-oriented equivalent to
RPC’s functional coupling].
and
A REST API should be entered with no prior knowledge beyond the
initial URI (bookmark) and set of standardized media types that are
appropriate for the intended audience (i.e., expected to be understood
by any client that might use the API). From that point on, all
application state transitions must be driven by client selection of
server-provided choices that are present in the received
representations or implied by the user’s manipulation of those
representations. The transitions may be determined (or limited by) the
client’s knowledge of media types and resource communication
mechanisms, both of which may be improved on-the-fly (e.g.,
code-on-demand). [Failure here implies that out-of-band information is
driving interaction instead of hypertext.]
What this means in practice is that the entry point (typically using the root URI of "/") contains links to other REST APIs. Those APIs will contain links to other APIs and so on. There should be no API that doesn't have a link to it. That would mean it is not discoverable.
The other answers here fundamentally wrong in that they fail to acknowledge the most basic principle of REST.