I wouldn't go ride in traffic right off the bat.
Stand next to a fence or wall and clip in with one foot. Leave the other foot on the ground. Unclip (twist your heel out away from the bike). Clip in again. Unclip again. Clip in. Unclip. Clip in.
I usually clip in my first foot with the pedal at the bottom of the circle, and angle the my toes down a bit. Then engage by pushing the foot forward and down at a 45-ish degree angle.
Then start rolling, and do the same thing while riding. Clip, unclip, clip, unclip.
It's not super difficult to do, the hardest part is just getting that muscle memory for where your foot/cleat goes in relation to the pedal. Once that's down the rest is easy.
Hey thanks for the help. I was out trying that for a while. You're right the hardest thing is getting the right position on the pedal.