Do you clip your dogs nails?

We've had our dog since May. Since then, I've had several people tell me how easy it is to cut my dogs nails. They suggested I go to Petco and get a really nice dog nail clipper because it would be cheaper in the long run to cut his nails myself than to bring him somewhere to have it done every few months. I'm afraid of cutting too short and cutting into the quick. I have brought him to a groomer to have his nails clipped a few times. He does very well there. He stands still and lets her do it. So, I'm not worried about him moving around a lot while I'm doing it. I guess I just don't trust myself. The groomer charges $6 and I can bring him in whenever she is open without an appointment. Maybe I should just get over my fear and learn to do it. Do you cut your dogs nails yourself? Have you ever cut into the quick by accident? What type of nail clipper do you use?