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Read The Joy of Living
Read The Joy of Living: Unlocking the Secret and Science of Happiness by Yongey Mingyur Rinpoche. It will answer all your questions about meditation, how and why it works, what method is the best for you, etc. You can buy it here.
You can meditate while driving your car or while walking or doing anything else. All you need is keeping your back straight and being concentrated on some object or objects like people around you, sounds you hear, your own breath, etc. It really works and no one will even understand that you are meditating.
Try to sing one of your favourite songs while meditating. It doesn't need to be a mantra or something religious that people usually use for meditation. If you love David Bowie, for example, you can sing Heroes and it will give you just the same effect.
It's a great method for loving yourself and for understanding that all people, just like you, want to be happy and want to escape the pain. So it will make you more open to others. If you have hard feelings to someone or even hate them, it will definitely help you.
Here you can read a good and easy description of this method.
If you want someone professional to teach you this method, just find some meditation teachers or groups in your area.
Take a piece of paper and a pencil (or anything else you like to use for drawing). Relax your mind and begin slowly moving your pencil on the paper, don't stop to analyse or evaluate it, just keep drawing for 10 minutes. If you practice regularly, you will be able to meditate this way for an hour or even longer.
The point of such meditation method is experience, not the picture you have in the end.
This method works for everyone, even if you are always busy, it won't take any extra minute from you, because you take a shower every day anyway. So just concentrate on the feel of the water upon your skin and imagine how it washes away all your negative thoughts and fears. That easy, but works amazingly!
Concentrate on the feelings in your body. Start with a very small area (nose tip, for example) and then move on through whole your body. No evaluation needed, just realise what each part of your body feels.
In some time of such practice, you will feel that your body in much more relaxed.
You can practice this method of meditation on the go if needed.