Embroidery isn't just for hand towels & pillow cases anymore. Embroidery can be like sketching and art, it can make portraits or tattoo art, and it can be utilitarian or an art form. There are a lot of creative and thoughtful avenues to explore with embroidery.
If you're looking for a good place to learn basic embroidery the blog Sublime Stitching is a great place to start. Threadbanger is a couple that has a series of You Tube tutorials for all sorts of crafting, including embroidery. Also check out Sarah's Hand Embroidery Tutorials.
If you prefer learning from someone in person, than teaching yourself from online sources check out your local or chain craft store or parks and recreation department. If none are being offered, ask them if they know of any embroidery experts that would be interested in tutoring. Another option would be to find an embroidery group to organize or join like the Spokane Stitch 'n Bitch.