"There are three catagories of off-road drivers
Those who have been stuck before,
Those who will be stuck in the future and
Those who are stuck right now"
This is about the truest piece of wisdom that has been given to me by more experienced drivers. The best way to find out what your vehicle can and can't do is to get it stuck a few times. Find a local off road club and tag along on a few trail rides. Almost all experienced drivers are eager to help out new guys like you and me.
As far as gear goes, a 20,000 lb recovery strap, the kind with a loop on each end, NOT the 15000 lb variety with hooks on the ends, and front and rear tow hooks are all you need to get started, assuming that you are going to be with other vehicles that will be capable of pulling you out.
www.off-road.com has sections and forums for particular vehicles that are probably worth a read, too.
Hope this helps,
Chris.