You don't need a 1:1 teacher but I recommend starting with a community of sorts, with classes led by a teacher. Find a Buddhist prayer center. Don't worry if you don't believe in God or religious dogma; none of that's important with the communities you're trying to enter. (Buddhism is theologically agnostic, and although the religious believes in past lives, you won't be rejected by Buddhist communities if you don't believe in past lives or reincarnation.)
Once you've gained a sense of what approaches work for you, it's a good idea to get some books and study them. One great thing about zen/meditation books is that you can read them every year and they're still fresh-- there are things in them that you didn't pick up the last time because you weren't ready for them.
Once you've gained a sense of what approaches work for you, it's a good idea to get some books and study them. One great thing about zen/meditation books is that you can read them every year and they're still fresh-- there are things in them that you didn't pick up the last time because you weren't ready for them.