I learned by the MIT Unicycle Club method:
1) Get two friends to stand on either side of you and get up on
the unicycle with your arms around their shoulders.
2) Sit up straight; look straight ahead; weight on seat, not on
pedals. Rock the pedals to get a sense of balance. Get the pedals
level; this is when you are in control.
3) Pedal half turns then stop. Then full turns, two turns, etc. Doing
multiples of half turns (from pedals level to pedals level again) is
harder than continuously pedaling, but keeps you in control.
4) Switch to holding on to your friends' wrists.
5) Switch to holding on to one friend's wrist.
6) Go off and use a wall instead of your one friend.
Steps 1-5 should not take more than an hour (perhaps in 10 minute
sessions). The thing I liked about learning this way is that I
never hurt myself in the process. I have used this technique to teach
a couple of dozen people.
For some people, the get on, fall off do-it-yourself cycle works
best. It's a matter of personality!
Hope this helps...
Best wishes,
Robert Bernstein
Santa Barbara, CA