When I first got mine, I used a mirror to put them in. I don't know whether it was 'seeing' where I was putting them, or whether concentrating on looking into the mirror made me blink less but it worked!
Also, use Saline, and squirt a bit in the lens before you put it in, it might help the lens rest on your eye and push out any dust you may have on the lens/eye.
Other than that, it's just practise I'm afraid. I've had mine since I was 15 and was fearless when I got them, so it could be that you're worried you'll get in a flap, and so you do?
Also, I assume you do hold your eye lids open?
Good Luck!