I will second the suggestion about orienteering. Some orienteering organizations have regular "meets" open to the public. They have at least one course laid out for the experts, but then they have easier and easier courses as well. At one meet, I saw a course laid out for kids and complete beginners. Basically, you could not get lost, and it simply allowed you to practice with a topo map. A beginner can "learn their way around" as they practice on harder and harder navigation courses.
Another line of outdoorspeople to check out is the local cave explorer "grotto." They have to read topo maps to be able to find their way to cave entrances, so that is just another place to practice.
Different scouting organizations have map reading programs, especially for kids.
Military training always has a land navigation class. Some branches, like the Army and the Marines, have excellent training. Of course, you may not want to sign up for three years just to get land nav training.
FM 3-25.26 is the (correct) textbook on map reading and land nav.