Step one is to learn the fundamentals of 3d. This includes theory behind stuff like triangles and quads, normals, box modeling, symmetry, textures, lighting, rendering, as well as common problems you can encounter like non-manifold geometry, holes, flipped polygons, unwelded vertices, etc.
Step two is to learn the program you want to use. There are tons of books, magazines, and videos out there so you’ll have to Google for them (Youtube is a good source too). Read the online manual as well as the PDF material included with ZBrush, then read them again. You can hold down the control key while hovering over an option in ZBrush and it will give you a description of what that feature does. Don’t be afraid to experiment! Good tip: save often and incrementally.
Step three is to learn the fundamentals of art. People interested in doing this professional usually go to colleges/universities to learn this stuff. It is possible to learn it on your own though. In your case you want to study anatomy closely and practice, practice, practice! Study the work of other artists you like and also pay close attention to people in regular everyday life, especially shapes and placement of features. No two are exactly alike. Learn to visualize everything in the world as a wireframe. If you can’t draw and/or sculpt with clay, odds are you won’t do well with 3d which is far more technical.
Step four is the most important. Doodle! It doesn’t matter what you doodle so long as you play with everything in ZBrush until you grasp what it does. Sometimes great art can come from what started as a doodle. Modeling non-organic things tends to be easier than organic (proportion isn’t as important and most stuff tends to be very geometrical) so you may want to start there. Again you need to practice, practice, practice! The more you do, the better you get. It doesn’t have to be good right now when you just starting out, so don’t get discouraged if you end up with a lumpy mess. Remember, every mistake is an opportunity to learn.