I learnt a lot from watching the Mastering the Twister DVD. I was able to incorporate some of the moves into my training, and learnt how effective the lock down is for example. By watching the DVD it helped me to understand some of the terminology and foundations of the system. From there I found that there was a local 10th Planet that I could get to. From starting there I found out about the warm up videos, and those really help to give you a lot positions, submissions, and escapes.
However, before I started the above I started to train MMA and No Gi grappling for a few months, so I was familiar to the rule set of BJJ. Learning why you're doing something is the first step I think. Once you know what's going on you can see the pathways to getting the moves to work for you much more clearer. It's always taught "Position before submission" but you really need to know "Why you're in that position".
I hope that helps you out a little and gives you a window into how I started and got into 10th Planet.