This is, in all seriousness, my recommendation for learning to touch type:
Step 1: Switch your layout to Dvorak (or any other sensible layout).
Step 2: Learn to use it.
There's no step 3. Touch typing is only hard because QWERTY is a terrible and stupid layout that encourages you to wander from the home row because too many common keys aren't on the home row.
If you solve that problem directly, there's no "learn to 'actually' touch type" step. In any sensible layout (of which Dvorak is merely one of many, really), you don't have to force yourself to touch type... it's just what your fingers will do on their own.
If your goal is to learn to type correctly, based on what I see of people fighting for years, I seriously think that "Learn Dvorak" is a faster, more effective way to get there than "Learn QWERTY + spend the rest of your life trying to force your brain to do something it quite rationally does not believe is optimal".
People can get emotional about this, so bear in mind whether or not QWERTY is the only "practical" layout to learn because it's the only pervasive one is separate from the question of whether it encourages your hands to wander from the home row. (Which is all-but-proved by the very fact we're having this discussion.)
I am also extremely aware of the expense of learning Dvorak or another layout, having done it myself. I still say it's easier that trying to force QWERTY touch typing, if you want to learn to touch type at all. If you're happy with wandering QWERTY syndrome... and I really have no great arguments about why that's bad... then carry on.