If you've never done any programming before, I would
highly recommend starting with either LabView or Java before trying C++. Take a look at both and see which one you feel is more intuitive.
Of course, this only applies if your team doesn't already have other programmers with more experience in C++. If that's the case, then check out the programming section on this website:
http://wpilib.screenstepslive.com/s/3120
For some fairly broad documentation for all 3 languages.