Grasshopper - if you can take this stone from my hand.... sorry. Showing my age and my nerdiness.

Seriously though, something that works for me is just put your feet on your pedals and start pedalling. You cleat will find its way in all by itself. You will hear the click and sure enough you will be clipped in and riding. I found if I try to clip in prior to getting going, I always act like its the first time.