The guitar is a tough instrument for a number of reasons, but if you're driven enough, go for it.
My biggest obstacle was tuning the strings. A cheap guitar is not worth investing in; you should count on spending about $200, maybe less, for a decent guitar. You can buy an electronic tuner, these are inexpensive and will help a lot in the beginning.
You can learn the chords from a book, and you should study them diligently. There are about a 100, and when you can shift from one to the other without any effort, that's a milestone. You also need to study the scales. All that you can do without a teacher.
There are probably some free tutorials on YouTube, but I suspect they are all very basic. It's worth it to save money for lessons.