The Internet and Esperanto are ideal partners. There are dozens of free online resources for learning Esperanto, most available for free.
One of the best websites for learning Esperanto is Lernu.net. Lernu is a multi-lingual site with several free online courses at different levels, from complete beginner to more advanced. Some courses pair you up with an experienced Esperanto tutor, who can answer your questions and help you along. Read descriptions of available free courses.
Lernu also has some great tips for learning Esperanto on your own.
Darcy Ross on Local Groups
Haroldo de Esperanto on NASK
Esperanto: Learning and Using the International Language.
By David Richardson.
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beginners, next steps, and advanced readers.