I went to Culinary Arts school for a year, and believe me, cooking really isn't that hard..
First step in learning is the recipe, and possibly somebody showing you how to cook it..
I remember I couldn't get how to cook some good white sauce down until a chef came over and prepped it up for me (turns out I thought white sauce was supposed to look a lot different than what it was... needed a lot more butter)
Second step is practice, practice, practice. The first time you cook something definitely won't be the best. Usually you end up cooking something too long, or putting not enough something in. The more times you cook something, the better you get at it.
Regardless of how it turns out, however, cooking is just following steps. I remember the first time I poached some seabass... mmmm mmmm... (although I forgot the recipe of the sauce

) and all it basically was was boiling 1 this, 2 of that, 3 of that, with 1 gallon of water, then cooking the seabass at this temp, with this on top, etc.