I recommend Subversion. Setting up a repository and using it is actually fairly trivial, even from the command line. Here's how it would go:
if you haven't setup your repo (repository)
1) Make sure you've got Subversion installed on your server
$ which svn
/usr/bin/svn
which is a tool that tells you the path to another tool. if it returns nothing that tool is not installed on your system
1b) If not, get it
$ apt-get install subversion
apt-get is a tool that installs other tools onto your system
If that's not the right name for subversion in apt, try this
$ apt-cache search subversion
or this
$ apt-cache search svn
Find the right package name and install it using apt-get install packagename
2) Create a new repository on your server
$ cd /path/to/directory/of/repositories
$ svnadmin create my_repository
svnadmin create reponame creates a new repository in the present working directory (pwd) with the name reponame
You are officially done creating your repository
if you have an existing repo, or have finished setting it up
1) Make sure you've got Subversion installed on your local machine per the instructions above
2) Check out the repository to your local machine
$ cd /repos/on/your/local/machine
$ svn co svn+ssh://www.myserver.com/path/to/directory/of/repositories/my_repository
svn co is the command you use to check out a repository
3) Create your initial directory structure (optional)
$ cd /repos/on/your/local/machine
$ cd my_repository
$ svn mkdir branches
$ svn mkdir tags
$ svn mkdir trunk
$ svn commit -m "Initial structure"
svn mkdir runs a regular mkdir and creates a directory in the present working directory with the name you supply after typing svn mkdir and then adds it to the repository.
svn commit -m "" sends your changes to the repository and updates it. Whatever you place in the quotes after -m is the comment for this commit (make it count!).
The "working copy" of your code would go in the trunk directory. branches is used for working on individual projects outside of trunk; each directory in branches is a copy of trunk for a different sub project. tags is used more releases. I suggest just focusing on trunk for a while and getting used to Subversion.
working with your repo
1) Add code to your repository
$ cd /repos/on/your/local/machine
$ svn add my_new_file.ext
$ svn add some/new/directory
$ svn add some/directory/*
$ svn add some/directory/*.ext
The second to last line adds every file in that directory. The last line adds every file with the extension .ext.
2) Check the status of your repository
$ cd /repos/on/your/local/machine
$ svn status
That will tell you if there are any new files, and updated files, and files with conflicts (differences between your local version and the version on the server), etc.
3) Update your local copy of your repository
$ cd /repos/on/your/local/machine
$ svn up
Updating pulls any new changes from the server you don't already have
svn up does care what directory you're in. If you want to update your entire repository, makre sure you're in the root directory of the repository (above trunk)
That's all you really need to know to get started. For more information I recommend you check out the Subversion Book.