I have seen many posts similar to this here but they are all about Objective-C while I am developing my app in Swift. As you can see from the image I have a login screen view an
Give your tab bar controller a StoryboardID (say "tabbar") and push it just like a normal UIViewController:
let nextViewController = self.storyboard?.instantiateViewController(withIdentifier: "tabbar") as! UIViewController
self.navigationController?.pushViewController(nextViewController, animated: true)