I ended up learning to touch type by 1) switching my keyboard to dvorak in software 2) printing a paper dvorak map that I taped just below my monitor (aside: a big surplus HP CRT with BNC connectors in those days) 3) Forcing myself to use only the correct finger to hit each key, then returning to rest in the home row.
This was back in college. I was a journalism major at the time, and so my inability to touch type had become a liability. It took me about a week of slow suffering before I was off to the races.
If RSI is a problem for you, you might consider training yourself to type on a dvorak layout. There are lots of claims about dvorak (some true and some hyperbole), but one thing that is absolutely true is that the amount of finger travel is much lower. Back when I learned dvorak, I actually measured finger stretch distances from the home row on my keyboard, and compared a corpus of my emails to figure how much travel would have been required in qwerty vs dvorak. Dvorak was substantially less.
There are theoretically better layouts than dvorak, but I think dvorak strikes a great balance between ergonomics and being available and easy to switch to on every operating system.