I think you emailed me so I'll put the same reply here:
It takes a while to get used to LEGO instructions. The most important thing to do is to look at the parts required for each step, pick them out of the NXT box, and then begin assembling the step. This lets you keep track of what you have done so far for each step. It seems simple but it is an important technique that makes it much easier to understand what is going on. If you don't set the parts aside for each step you can easily lose track of where you are.
After you get used to it things become much easier. Maybe try out the robot on page 292 first, as that is the easiest in the book.
BTW I think you mean leJOS, not nejos.