Inserting menstrual cups is actually easier than it seems! Simply fold the cup and insert it as far as you can reach. Letting go of the cup once it's in place allows it to unfold and create a seal. To remove, hook a finger over the lip of the cup to break the seal, and pull out. Dump out the contents and rinse, and you're ready to go!
There are also plenty of different ways to fold a menstrual cup before inserting it. Everyone's different, so try a few different ways out, and see what's most comfortable for you!