it takes getting used to. if you're going to wear them for a long time, which you aren't really supposed to do but i do anyway, rewetting drops are your best friend. oh and sliding them across your eye to take the out is much easier that trying the thing pinch thing.
I'm not in need of glasses or contact lenses but I had colored contact lenses a while ago to make my eyes look brown. The first time I wore them it took me 3 hours to put both of them on and I had a really weird feeling in my eyes afterwards, I was able to wear them for about 7 hours without a break though. The other times I put them on it all went a little faster and after a couple of weeks I managed to put them on in seconds.