Just as with any other skill you master, flying is learned step-by-step. It's a fascinating experience, but it is not particularly difficult. It can be learned by practically anyone who is willing to invest some time and effort.
Pilot training has two aspects: ground training and flight training. Ground training covers flight rules and regulations, how an airplane flies, flight planning, navigation, radio procedures, and weather. With flight training, done under the supervision of a certified flight instructor, you will learn to fly by taking control of the airplane yourself.