If you don't use sequentially numbered elements, you'll have to loop through until you hit the first one:
var firstIndex = 0;
while (firstIndex < myarray.length && myarray[firstIndex] === undefined) {
firstIndex++;
}
if (firstIndex < myarray.length) {
var firstElement = myarray[firstIndex];
} else {
// no elements.
}
or some equivalently silly construction. This gets you the first item's index, which you might or might not care about it.
If this is something you need to do often, you should keep a lookaside reference to the current first valid index, so this becomes an O(1) operation instead of O(n) every time. If you're frequently needing to iterate through a truly sparse array, consider another data structure, like keeping an object alongside it that back-maps ordinal results to indexes, or something that fits your data.