If it's just for listening purposes, you can get a scanner pretty cheap; Bearcat is a good brand.
If you want to chat, then all you have to do is learn some theory as to how radio works, and take the no-code technician's test so you can talk on 2-meters, which is the most common band.
I've heard Kenwoods are good, there's Icom, and a number of other good brands I hear about on the scanner. My dad's an old ham and I'd like to take the test, but I still keep putting it off
Here's where to start: http://www.arrl.org/getting-your-technician-license