Enjoy the journey of learning to juggle. This beginning juggling tutorial explains juggling basic techniques and includes tips and troubleshooting (for instance start by juggling over your bed). Once you get the "hand" of this, try Taylor's other juggling lessons.
If you don't have juggling balls, try using beanbags, balloon beanbags, "hacky sacks," or weighted socks - something round and heavier than a tennis ball. Start with juggling balls and then move on to juggling clubs and rings!