Lace the strap through the clip first, then down and around the inside of the pedal. This lets you pull up on the clasp with one finger, making for easy loosening.
When working the strap through the pedal, put a full twist into the strap. This prevents the strap from slipping and moving the clasp.
Keep your cleats a wee bit loose on the shoes for the first few times out. This lets you twist your ankle to relocate the clip on the shoe, so you can find the best position without knee pain.
Wear gloves, so that when you fall at a stop sign, you won't scrape your palm.