Have you read "Autobiography of a Yogi"? That's how I started. I taught myself initially by experimenting with that book, then joining a local meditation group, then asking for "guidance" on how to meditate while in meditation itself. . . although come to think of it, I had been doing hatha yoga for a number of years before that, which is also a form of meditation.
If you want to start by getting to know your body, and learning to relax and breathe deeply (both essential to meditation), try working with Richard Hittleman's "Yoga: 28 Day Exercise Plan" first. Set yourself a time of day to stretch and/or meditate and make that time special. Keep notes. I've been doing both for over 30 years and I can't think of anything else that has been so rewarding.