I cast on the same way you do, I think - one needle and my other hand. Casting off won't be a problem for you and you'll wonder what all the fuss was about. Promise!
Snowflake: I learned to knit a gazillion years ago from my mom, so I'm not up on what books would be good. I love my sock books and they seem to have fairly clear instructions, but starting out with a handful of double-pointed needles can be intimidating.
Probably the best place to start is with what you want to make. If what you really want to make is socks, you'll be more likely to stick with it if you try the sock books. If you'd rather make an afghan or scarf, head for those.
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