I'm young-ish, but I'm 6'3" and I found it to be pretty simple. For me:
Getting in: Put right foot in, slide in to seat at 45 deg angle, pull left foot in while turning. Hands can go pretty much any where, but no weight can be put on the windshield or steering wheel.
Getting out (this works for both sides): Put your inside foot on the metal area of the floor. Pull your outside foot outside of the car and rest your leg on the black plastic. Push yourself out with the inside leg until you can put your weight on the outside leg, then stand up while lifting your inside leg out of the car.