Many people knock Rorion Gracie for his (generously put) hyper-marketing tactics and other antics, but he is acknowledged by even his detractors as being a very detailed and methodical instructor. Try his Gracie Jiu-Jitsu Basics and Intermediate sets.
Also outstanding are Roy Harris's BJJ 101 series. Harris breaks down things very scientifically and methodically.
You can learn the basics from videos, but getting a good instructor/program is a must - you have to spar with people who know what they are doing and you need corrections from the watchful eyes of the instructor.
Skorzeny
