I was taught the basic stitches of embroidery by my mom when I was 10. As the years passed, I learned more stitches either from kits I had purchased or books. I am still learning each day!
One of the best stitch guides I like to refer to is this book, The Readers Digest Complete Book Of Embroidery. It is full of projects, stitch instruction, and information. The stitches are shown in detail, step by step.
There are beautiful projects and also more challenging skills information when one is ready to try something new. There are a great number of embroidery books with all the information one needs to get their hands busy. A lot of these can be found at your local library, as well as on-line. The best thing to do after you have found something you want to try, is practice. Keep stitching the stitch over and over until you feel comfortable stitching it and it looks the way you want.