Classes and some books
I just finished taking the basic Piloting course at NY Sail & Power Squadron, and it's a new and great course. If you can manage to take the class, it really will help you 'get it' better than just reading, but if you can't (it can be hard to carve out 10-11 consecutive weekday evenings) the reference book for the course is The Weekend Navigator, which you can get from Amazon. Another great basic book is Boat Navigation for the Rest of Us. The good thing about the classes is the constant practice you get charting, and that you'll have the feedback of seeing your errors corrected. Plus it's just fun! Good luck, once you get started you'll really enjoy it.