Here's how I got used to my clipless pedals:
I had eggbeaters, so the tension couldn't be adjusted. I couldn't get the feel for clipping in, so I held onto the garage doorframe and practiced clipping in and out. Did this for about 15 minutes.
Now, our driveway is a circle loop-around. Very short. I went around the loop once and then back into the garage to grab onto the doorframe and unclip. Then I clipped in (while still gripping the doorframe) and repeated the loop. Did this for about 15 minutes. I then proceeded to do the loop more and unclipping without holding on to the doorframe.
After that, I was ready to ride. I've never fallen flat on my side thanks to the said Clipless Traing Program.