wheel truing is relatively simple. like anything else, it takes some practice, but it's worth it in the end.
the only specialty tool you need is a spoke wrench, and that's like 5 bucks.
here's a site that explains it all: Building Bicycle Wheels by Sheldon Brown
(the rest of this site explains just about everything else you'd want to know about bicycle maintenance.)
you could make a truing stand out of old bike parts, or just flip your bike over and spin the wheel.
i build and true all my own wheels, and all i use is a spoke wrench and an allen wrench held against the fork for a guide.