I have been working on finger picking for a bout a year maybe 18 months now, and like someone above me noted, it gets easier each time you come back to it. Some exercises i use, and i have tweaked them a bit as i have gotten better is pretty simple and here is my lame attempt at mapping it out for you.
First step, remember to put the tip of your pinky finger just below the strings on the pick board. It is a bit uncomfortable in the beginning but it helps in the future.
Second Step, assign a number to each of your four remaining fingers as follows:
1=thumb
2=pointer
3=middle

just kidding
4=ring
Third Step, make a G chord with your left hand or right whatever handed you are. Now you want to start with the thumb and pluck the G bass note-Low E string third fret.
Fourth Step, assign fingers 2,3,&4 to the G,B,& high E strings respectively, and pluck those in order. Repeat as necessary.
So it should follow the pattern:
1-thumb
2-pointer
3-middle
4-ring
and so on. Also, you may speed up as you begin to get more comfortable.
When this gets boring reverse the pattern, but always pluck the bass not first so:
1-thumb
4-ring
3-middle
2-pointer
and so on. speed up as necessary
When this gets boring as it soon will, do this pattern:
1-thumb
3-middle
4-ring
2-pointer
and so on. speed up as necessary.
Now you do not have to always play a G chord but for me it was the easiest to learn this with C chords and D chords work well too, and once you get all three-well, finger-pick a tune. Don't worry about how uncomfortable your pinky finger will be that will go away. Also, do not be discouraged this is difficult and will come in time- I am still no good at it and i practice it daily. Furthermore, remember to keep your thumb flat and almost parallel to the strings. This too is difficult at first, but once your thumb loosens up you will be glad you kept it flat. If i can, i will try and post a video in the next day or two. I hope this is understandable and helps, because finger-picking is such a wonderful and simple way to make songs sound better. Good luck my friend!
-James