For this one in particular, I would recommend taking a look through ROBOTC's Video Curriculum Trainer
, as it contains several videos that deal with concepts that directly relate to what you are trying to do (conditional statements, 'wait till touch' programs, etc). Specifically, you may want to look through the 'Movement -> Shaft Encoders' and the 'Remote Control -> Remote Start' (this deals with the VEXNet Joystick Controller's buttons, but the Bump Switches work very similarly in ROBOTC) section.
Also, you may want to post what code you already have using the [code] tags so we can take a look at it with you and hopefully debug where you are at with the code so far.
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