I am trying to learn the basics of g-code, but all the websites I have found make it look so complicated. Is there a good site out there with basic mill g-code program techniques?

Have a look in Members Doc's as I think there is a Hoss programing book there.

Frankly the best source would be a book like CNC Programming Handbook by Peter Smid.
It gives you the foundation which you need.

RICH

Try out this mill g-code website. http://www.gcodeblocks.com/ It really showed me how easy basic programming can be.