There are many places to learn about and practice Buddhist meditation in the Twin Cities. Below are just a few. Each of them will offer some form of introduction or instruction to help you follow along with the group meditation and feel more comfortable:
Tibetan Meditation Centers:
(A lineage based on the teachings of Japanese monk Nicheren Daishonin. A central practice is chanting; Tina Turner demonstrated this in an interview with Larry King)
SGI-USA Minnesota/North Dakota (St. Paul)
The forms of meditation practiced at these different centers vary, but share many similarities. Try the different centers out. If you are looking for a regular place to meditate, one helpful factor in choosing one is how comfortable you feel when you're there. Settling on a center that offers a community you find supportive may be a good idea.