I meditate and I also find it helps to integrate it with yoga...
I also find a good meditation time is when I first awaken or when I go to bed, just because I'm not thinking, OK, now I have to meditate. It's a way just to consciously slip into it.
Starting with simple breathing and being conscious of the breathing is key--with no expectations, and as readyforhelp said, concentrating on a phrase or a mantra really helps... my phrase is:
Breathing in I feel God's love
Breathing out I share God's love
It puts me in the frame of mind that I am simply a conduit of love, and it helps me relinquish my ego and thus self-judgement.