Start at square 1; the kit of parts page:
http://usfirst.org/roboticsprograms/....aspx?id=18530
Read the Getting Started pdf (and the rest of them as needed), then do the OTB test so you have a working test bed (could take 2 or 3 days; I'm assuming you are on a a rookie team). This will include deciding which programming language you are going to use (LabVIEW, C/C++, or Java), and configuring the cRio and the computer(s) you plan to use for code development and driver stations.
For FRC-specific programming tips check out the CD-Media and the offerings at:
http://thinktank.wpi.edu/Portal
Note there are several generations of control systems represented in these collections; some info in older media will be obsolete.
Finally, when you have tried to follow the manuals a couple of times and its still not working, just post your question here (or in the appropriate sub-forum); keep a tab on your browser open here and check in often. Most likely someone who is slightly ahead of you will have already asked a similar question, and you can learn from their mistakes before you even try something for the first time.
Good luck; this stuff is complex, don't expect it to go perfectly smoothly. Even veterans have to figure the new stuff every year, in addition to re-learning the old stuff.
