I'd like some help on how to start a habit of meditating (I've read the FAQ)

I'll give you a short introduction of myself so you know why I'm (desperately) wanting to change my lifestyle.

I'm an anxious person. I worry, overthink, get stressed quickly, care too much about non-issues, etc.
It affects me and people around me, it's almost cost me a relationship and it makes me enjoy life less.
Recently I recorded my resting heart rate and it was over 90, which made me realize I should do something about it.
I wouldn't call myself unfit, I bike at least an hour everyday so it's not that I don't get exercise and I do eat healthy, so I don't think that's the cause of my high heart-rate, I'm pretty sure it's just "in my head".
I've read through the FAQ and tried the simple meditation technique, I think it somewhat helped, but I had a lot of trouble not letting my mind drift to other random thoughts, I'm a person who really craves being "occupied" and interacting I guess.

So where do I really start? Do I just keep doing this and/or trying other techniques from the FAQ until it becomes easier?
Are there any specific techniques you would recommend to me?
I'm also interested in Yoga, since I'm pretty flexible and I feel like being in a pose would keep my mind busy enough so I don't drift off to other thoughts, do I just look up yoga poses, pick one that I think seems interesting and try it?
I also don't know if meditating will help me be more relaxed in general. It helped me relax a bit just now while doing it, but when something happens or when I think of something that could cause anxiety and I can't meditate at that moment, what do I do?