I just youtubed things I wanted to learn, like the chords to a song or how to barre. At first, my fingertips bruised and blistered on both hands. The hardest part is getting past this stage and waiting for your hands to callus; it’ll stop hurting, trust me.
I started off with basic e, g, c, etc. chords. I think that my dexterity in both hands from playing the piano made forming chords, fingerpicking, and moving along the fretboard easier. If may help to improve your dexterity by playing scales and transitioning between chords.
Barreing is really important and took me a while to learn as well. A technique to barreing is instead of having your thumb hanging out next to the low E-string, put it on the back of the neck of the guitar to get more pressure for your index finger (which is the finger that’s doing the barreing).
Lastly, I have no idea how to use a pick (a plectrum). I learned to pick and strum with my hands so that’s what I’m used to. Call me James Taylor. I’m taking a 1-credit intro-guitar class at my school next semester, so I’ll see how that goes. Good luck to you and don’t give up!