arduino + arduino IDE(arduino.cc, it's free) and processing(also free)
they are both programmed, in a pseudo-C language, i advise you to download processing, and start playing with it, it's fun, it can receive input from the mouse, computer keys, etc, and send it over the usb port, to your arduino for example, it's easy to create GUI, and stuff.
it's completely free.
the arduino is great fun, when i got mine i didn't understand any of the programming, but in a few days i had done some basic things.
to control motors though, you can't just connect the motors to the arduino pins, it will burn them, they cant provide enough current, start by playing with LEDs, 7 segment displays, and maybe even LCD's, cheap, but quite cool, grab some servos too if you like.
You are right, you have to walk before you can run, but if you run fast, doesn't take much effort to start running...
if you get the LED blinking, anything is possible, if you practice programming.