One thing I have done to make it easier for me to pray, is just write down the basic flow of each prayer, printed it out and read it. Having the paper there to read makes it easier for me to focus. I went with an english translation, instead of just trying to parrot the transliteration of the original Arabic, as I rather like knowing what i am saying. Now that I have it memorized, I am working on doing a translitation version so I can start memorising it that way. Eventually I will move to learning to read the actual Arabic script.
This probably take me a few years, but I am setting goals for myself.
I found various samples of Salat with and without translations online. I also watched the videos on youtube on how to perform the various prayers. These are nice as you can listen to the Arabic and 'read' the English meaning. Not all prayers will be identical as after the standard parts, different ayats of the Qur'an can be recited. Also, not all parts of the prayer are recited aloud.
I am not sure if this is the best way to learn the prayers but its the way that's working for me so far.