For starts, you can play online.  In fact, a lot of online casinos have demos which will allow you to play poker in real time, without betting real money.  You can do everything all the paying players can do, but you do not have to risk the money.  However, by going this route, you can become comfortable with the betting process.

As any experienced poker player will tell you, however, nothing beats playing live with other people.  The good news is that you can do that as well.  You can always start up a poker night between yourself and some of your friends.  You’ll have a good time, and you’ll learn to play poker in front of others.  That means perfecting your bluffs and discovering your tells.