In order to query your S3 data from Athena you only need to tell Athena the data location and details about columns, data types, file format, etc. Just to be clear, there's no 'load' - Athena literally accesses the S3 files in place. If you change those underlying files then Athena will change correspondingly.
Instead of 'loading' to Athena, it's better to think of registering your data with Athena. You do this by creating an external table. This answer has a good example. How to Query parquet data from Amazon Athena?
If you don't know the correct syntax to create the external table, I'd suggest you use Glue's ability to create that data definition as a one-time exercise. Once there you can run SHOW CREATE TABLE my_table
in Athena, which will show you the statement that was executed to create the table.
Glue is usually not necessary in order to use Athena - it's an easy way to get started, but is just another step that takes time, adds complexity, etc.