Getting started with ANT can seem a bit intimidating, but all of the resources you will need can be found on the website.
First, you should check out the
ANT Basics page. It steps you through which documents you should read first including the
ANT Message Protocol and Usage document (aka the "ANT Bible").
Next you'll want to check out the
Starting Your Project page. From there it'll you tips on how to get started, no matter which platform you are developing for.
If you're starting development on a PC, please also read the
Getting Started with ANT PC Development application note. The
Documents page hosts many application notes which provide a wealth of information on how to use a variety of features of ANT.