I would recommend using HTML5 boilerplate as a starting point. This will save you hours if not days. I have created a blank Joomla template based on HTML5 boilerplate - you can download it at cambridgesoftware dot co.uk/blog
I think this article is one good reference for those who is starting with Joomla template: How to create Joomla template (joomseller.com/blog/how-to-create-a-joomla-template.html )
Download some basic template that matches the template you have in mind, then install it and use Stylizer to modify as you llike. No need of CSS knowledge when using Stylizer. Update in realtime.
Have a look at this http://www.compassdesigns.net/joomla-tutorials/joomla-15-template-tutorial http://www.lynda.com/Joomla-1-5-tutorials/creating-and-editing-custom-templates/666-2.html