I have contacts.
It's been a year since I got them. I have relatively sensitive eyes, and I have no problem at all getting them in now. The first time it took me half an hour to get one of them in at the optometrist's office.
After about a week you can do it no problem. They show you exactly what to do, and if you can't do it the first time, they give you a little practice exercise to do to help desensitize your eyes to touching, and you come back for another appointment in another week.
If you want to get rid of glasses, and you're thinking of getting contacts, do it. I didn't want to get them at first because I thought they'd be a pain, but I'm extremely happy I ended up getting them.